WO2021063412A1

WO2021063412A1 - Cargo taking and placing control method, device, handling device and handling robot

Info

Publication number: WO2021063412A1
Application number: PCT/CN2020/119651
Authority: WO
Inventors: 郑睿群; 孔哲; 赵颖; 何家伟; 詹庆鑫
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2019-09-30
Filing date: 2020-09-30
Publication date: 2021-04-08
Also published as: EP4039618A1; US20220219902A1; EP4039618A4

Abstract

Provided are a cargo taking and placing control method, a control device, and a handling robot (200), the cargo taking control method comprises: receiving a cargo taking instruction, acquiring the positioning information of the target cargo according to the cargo taking instruction; enabling the handling robot (200) to move to the target position according to the positioning information; acquiring the status information of the target cargo and/or the position relation information between the handling device and the target cargo; adjusting the posture of the handling device (100) according to the status information and/or the position relation information, to enable the handling device (100) to take out the target cargo. Through acquiring the status information of the target cargo and/or the position relation information between the handling device (100) and the target cargo, the position of the target cargo can be accurately determined, and the target cargo can be accurately taken out, the tedious labeling process can be avoided, and the working efficiency of the handling robot (200) is improved.

Description

Picking and unloading control method, device, handling device and handling robot

This disclosure requires that it be submitted to the Chinese Patent Office on January 21, 2020. The application number is 202010068990.8, and the application name is a Chinese invention patent application named "Pick-up and unloading control methods, devices, handling devices and handling robots", January 21, 2020 Submitted to the China Patent Office on January 21, 2020, the application number is 202010069012.5, the application name is "Pick-up control method, device, handling device and robot" Chinese invention patent application, submitted to the China Patent Office on January 21, 2020, the application number is 202020141209.0, application A Chinese utility model patent application named "Transporting device and a handling robot" was submitted to the Chinese Patent Office on January 21, 2020. The application number is 202020142100.9. The application name is "A handling device and a handling robot with such a handling device" The Chinese utility model patent application, and the priority of the Chinese utility model patent application filed with the Chinese Patent Office on September 30, 2019, the application number is 201921662771.1, and the application name is "Transporting Device and Handling Robot", which is consistent with the entire content of this disclosure Incorporated in this disclosure by reference.

Technical field

The present disclosure relates to the field of intelligent storage technology, and in particular to methods, devices, conveying devices, and conveying robots for controlling picking and unloading goods.

Background technique

Smart warehousing is a link in the logistics process. The application of smart warehousing ensures the speed and accuracy of data input in all aspects of cargo warehouse management, ensuring that companies can accurately and timely grasp the true data of inventory, and reasonably maintain and control corporate inventory. Through scientific coding, it is also convenient to manage the batch and shelf life of the stocked goods. Using the location management function of the SNHGES system, you can also grasp the current location of all inventory goods in a timely manner, which is conducive to improving the efficiency of warehouse management.

Handling robots play an important role in intelligent warehousing. Handling robots replace manual handling of goods. However, existing handling robots need to pre-label the boxes before taking out the boxes from the shelves, such as QR codes and radio frequency identification. Labels, etc., the handling robot judges the position of the cargo box through the label attached to the cargo box, but the process of labeling the cargo box is very cumbersome.

Summary of the invention

The embodiments of the present disclosure provide a control method, a control device and a handling robot for picking and unloading goods, which can avoid the tedious labeling process and improve the working efficiency of the handling robot.

In the first aspect, the present disclosure provides a picking control method, which is applied to a handling robot, and the handling robot is equipped with a handling device for picking up goods. The method includes:

Receive the pick-up instruction, and obtain the location information of the target goods according to the pick-up instruction;

Move the handling robot to the target position according to the positioning information;

Obtain status information of the target cargo and/or positional relationship information between the handling device and the target cargo, where the status information of the target cargo includes size information of the target cargo and/or posture information of the target cargo;

According to the status information and/or the positional relationship information, the posture of the conveying device is adjusted so that the conveying device can take out the target goods.

In a second aspect, the present disclosure provides a delivery control method, which is applied to a handling robot, and the handling robot is equipped with a handling device for picking up the goods. The method includes:

Receive the delivery instruction, and obtain the location information of the target goods according to the delivery instruction;

Make the handling robot collect 3D imaging information based on the target position;

Judging whether there is a container on the shelf based on the three-dimensional imaging information;

If no cargo box exists, the handling device will place the target cargo on the shelf.

In a third aspect, the present disclosure provides a control device, including:

At least one processor; and

A memory communicatively connected with at least one processor, the memory stores executable code, and when the executable code is executed by the at least one processor, the at least one processor is caused to execute the above-mentioned first aspect and second aspect methods.

In a fourth aspect, the present disclosure provides a transport robot, including a mobile chassis, a transport device, a storage shelf, a lifting assembly, and the control device of the third aspect. The storage shelf is installed on the mobile chassis, and the storage shelf is arranged along a vertical direction. Several storage pallets are distributed, each storage pallet is used to place goods, the handling device is used to transport goods between the fixed shelf and any storage pallet, and the lifting assembly is used to drive the handling device to move in the vertical direction, so that the handling The device is raised to the height of the corresponding storage pallet or the height of the fixed shelf; when the handling device is raised to the height of the corresponding storage pallet, the handling device moves the goods to the corresponding storage pallet in the handling direction, or the handling device is in the handling direction Remove the goods on the corresponding storage pallet; when the handling device is raised to the height of the corresponding fixed shelf, the handling device will move the goods to the corresponding fixed shelf in the handling direction, or the handling device will be located in the corresponding fixed shelf along the handling direction The goods on the fixed shelves are removed.

In a fifth aspect, the present disclosure provides a handling device, including:

A fork is used to take out the goods; and

The three-dimensional imaging information acquisition module is installed on the fork, and the three-dimensional imaging information acquisition module is used to acquire the three-dimensional imaging information of the goods to determine the position of the goods.

In a sixth aspect, the present disclosure provides a transport robot, including the transport device of the fifth aspect described above.

In a seventh aspect, the present disclosure provides a control device, including:

At least one processor; and

A memory communicatively connected with at least one processor, and the memory stores executable code, and when the executable code is executed by the at least one processor, the at least one processor is caused to execute the method of the first aspect described above.

In an eighth aspect, the present disclosure provides a transport robot, including a mobile chassis, a transport device, a storage shelf, a lifting assembly, and the control device of the seventh aspect. The storage shelf is installed on the mobile chassis, and the storage shelf is arranged along a vertical direction. Several storage pallets are distributed, each storage pallet is used to place goods, the handling device is used to transport goods between the fixed shelf and any storage pallet, and the lifting assembly is used to drive the handling device to move in the vertical direction, so that the handling The device is raised to the height of the corresponding storage pallet or the height of the fixed shelf; when the handling device is raised to the height of the corresponding storage pallet, the handling device moves the goods to the corresponding storage pallet in the handling direction, or the handling device is in the handling direction Remove the goods on the corresponding storage pallet; when the handling device is raised to the height of the corresponding fixed shelf, the handling device will move the goods to the corresponding fixed shelf in the handling direction, or the handling device will be located in the corresponding fixed shelf along the handling direction The goods on the fixed shelves are removed.

In a ninth aspect, the present disclosure provides a conveying device for conveying goods along a conveying direction. The conveying device includes:

Support frame, the support frame extends in a direction perpendicular to the conveying direction in the horizontal plane;

Two side arms, the two side arms are respectively arranged at both ends of the extension direction of the support frame, the two side arms respectively extend along the conveying direction, and at least one side arm is movably arranged on the support frame along the extension direction of the support frame;

The transverse drive assembly is connected to at least one side arm in transmission. The transverse drive assembly drives at least one side arm to move along the extension direction of the support frame so that the two side arms approach or move away from each other along the extension direction of the support frame. When the arms are close to each other along the extending direction of the support frame, the size of the carried goods can be adapted.

In a tenth aspect, the present disclosure provides a handling robot, including a mobile chassis, a storage shelf, a lifting assembly, and the handling device of the ninth aspect. The storage shelf is installed on the mobile chassis, and the storage shelf is provided with a plurality of vertically distributed Storage pallets, each storage pallet is used to place goods, the handling device is used to transport goods between the fixed shelf and any storage pallet, and the lifting assembly is used to drive the handling device to move in the vertical direction, so that the handling device is lifted to Corresponding to the height of the storage pallet or the height of the fixed shelf; when the handling device is lifted to the height of the corresponding storage pallet, the handling device pushes the goods to the corresponding storage pallet in the handling direction, or the handling device will be located in the corresponding storage pallet along the handling direction The goods on the corresponding storage pallet are pulled away; when the conveying device is raised to the height of the corresponding fixed shelf, the conveying device pushes the goods to the corresponding fixed shelf in the conveying direction, or the conveying device will be located on the corresponding fixed shelf in the conveying direction The goods on the board are pulled away.

The embodiments of the present disclosure provide a control method, control device, and handling robot for picking and unloading goods. By obtaining the status information of the target goods and/or the positional relationship information between the conveying device and the target goods, the position of the target goods can be accurately determined. And it can accurately take out the target goods, avoiding the tedious labeling process, and improving the working efficiency of the handling robot.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings may be obtained based on these drawings without creative labor.

FIG. 1 is a schematic flowchart of a pick-up control method according to an embodiment of the present disclosure;

2 is a schematic flowchart of a pick-up control method according to another embodiment of the present disclosure;

FIG. 3 is a schematic flowchart of a delivery control method according to an embodiment of the present disclosure;

4 is a schematic flowchart of a delivery control method according to another embodiment of the present disclosure;

Fig. 5 is a schematic structural diagram of a control device according to another embodiment of the present disclosure;

Fig. 6 is a schematic structural diagram of a transport device provided in one of the embodiments of the present disclosure;

Fig. 7 is a disassembled schematic diagram of the conveying device shown in Fig. 6, in which the rotary drive module of the conveying device is shown;

FIG. 8 is a schematic structural diagram from another angle of the conveying device shown in FIG. 6, in which the router of the conveying device is shown;

9 is a schematic structural diagram of the fork of the handling device shown in FIG. 6 in the first state, in which the manipulator of the fork extends and has obtained the goods;

FIG. 10 is a schematic structural diagram of the fork of the handling device shown in FIG. 6 in a second state, in which the manipulator of the fork picks up and retracts the goods;

11 is a schematic structural diagram of the fork of the handling device shown in FIG. 6 in the third state, in which the movable push rod of the fork is retracted into the telescopic arm and extended;

12 is a schematic structural diagram of the fork of the handling device shown in FIG. 6 in the fourth state, in which the manipulator of the fork extends and has obtained the goods, and the pallet of the fork travels toward the goods;

FIG. 13 is a schematic structural diagram of a handling robot provided by an embodiment of the present disclosure;

14 is a schematic structural diagram of a handling robot provided by another embodiment of the present disclosure;

15 is a schematic flowchart of a pick-up control method according to an embodiment of the present disclosure;

16 is a schematic flowchart of a pick-up control method according to another embodiment of the present disclosure;

FIG. 17 is a schematic flowchart of a pick-up control method according to another embodiment of the present disclosure;

18 is a schematic flowchart of a pick-up control method according to another embodiment of the present disclosure;

19 is a schematic structural diagram of a state where the arms on both sides of the conveying device are separated from each other according to an embodiment of the disclosure;

20 is a schematic structural diagram of a state where the arms on both sides of the carrying device are close to each other according to an embodiment of the present disclosure;

FIG. 21 is a schematic structural diagram of a conveying device provided by an embodiment of the disclosure;

FIG. 22 is a schematic structural diagram of a handling device provided by another embodiment of the present disclosure;

FIG. 23 is a schematic diagram of an extended state of the inner articulated arm of the transport device structure provided by an embodiment of the disclosure; FIG.

FIG. 24 is a schematic structural diagram of a movable push rod in an avoiding position provided by an embodiment of the present disclosure; FIG.

FIG. 25 is a schematic structural diagram of a movable push rod in a working position provided by an embodiment of the present disclosure.

Description of reference signs:

10- Handling robot;

100-handling device; 101-cargo; 102-fork; 12-fork bracket; 14-telescopic arm; 16-manipulator; 18-pallet; 20-three-dimensional imaging information acquisition module; 30-bracket; 40- Rotation drive module; 42-first sprocket mechanism; 44-rotation drive motor; 50-two-dimensional image scanning module; 60-router; 110-support frame; 111-transverse guide rail; 120-side arm; 120a-transverse Fixed arm; 120b-transverse movable arm; 120c-first movable arm; 120d-second movable arm; 121-outer section arm; 122-inner section arm; 123-push rod assembly; 1231-fixed push rod; 1232-movement Push rod; 124-temporary storage board; 125-middle arm; 130-transverse drive assembly; 131-transverse motor; 132-transverse traction cable; 133-transverse drive wheel; 134-transverse drive shaft; 135-first connecting block 136-second connecting block; 140-carriage; 150-rotating drive assembly; 151-sprocket transmission structure; 152-rotating motor; 160-section arm drive assembly; 161-section arm motor; 162-section arm drive shaft ; 163-section arm sprocket structure;

200-mobile chassis;

300-storage rack; 310-storage pallet;

400-lifting assembly;

500-control device; 510-memory; 520-processor.

Detailed ways

In order to make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments These are a part of the embodiments of the present disclosure, but not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present disclosure.

The terms used in the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the present disclosure. The singular forms of "a", "said" and "the" used in the present disclosure and appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and/or" as used herein refers to and includes any or all possible combinations of one or more associated listed items.

It should be understood that although the terms "first", "second", "third", etc. may be used in this disclosure to describe various information, the information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as second information, and similarly, the second information may also be referred to as first information. Therefore, the features defined with "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present disclosure, "plurality" means two or more than two unless specifically defined otherwise.

The present disclosure provides a control method, a control device and a handling robot for picking and unloading goods, which can avoid the cumbersome labeling process and improve work efficiency.

The technical solutions of the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

The present disclosure provides a pickup control method, which can be applied to any handling robot equipped with a handling device. The pickup control method may include the following steps:

First, receive the pick-up instruction, and obtain the location information of the target goods according to the pick-up instruction.

Specifically, after receiving the pick-up instruction, the handling robot can obtain the location information of the target cargo by querying the location information of the target cargo itself or the location information of the shelf where the target cargo is stored.

After obtaining the positioning information of the target cargo, the handling robot can move the handling robot to the target position according to the positioning information.

Then, the status information of the target cargo and/or the positional relationship information between the handling device and the target cargo is obtained, where the status information of the target cargo includes at least one of the size information of the target cargo and the posture information of the target cargo.

Finally, the handling robot adjusts the posture of the handling device according to the status information and/or positional relationship information, so that the handling device can take out the target goods.

In the present disclosure, by obtaining the status information of the target cargo and/or the positional relationship information between the conveying device and the target cargo, the location of the target cargo can be accurately determined, and the target cargo can be accurately taken out, avoiding the cumbersome labeling process , Improve the work efficiency of the handling robot.

In the present disclosure, the status information of the target cargo may be posture information of the target cargo and/or size information of the target cargo. Different forms of status information correspond to different acquisition methods.

Hereinafter, the method of picking up the target cargo with the status information of the target cargo as the posture information of the target cargo will be described.

Fig. 1 is a schematic flowchart of a pick-up control method according to an exemplary embodiment of the present disclosure. The method can be applied to any handling robot equipped with a handling device. Referring to Figure 1, the method includes:

S101. The handling robot receives a pick-up instruction, and obtains location information of the target goods.

The positioning information of the target goods may be the positioning information of the target goods itself, or the positioning information of the shelves storing the target goods.

In some embodiments, the pick-up instruction may include the identification information of the target goods or the shelf where the target goods are stored; after receiving the pick-up instruction, the handling robot can obtain the location information of the target goods through the above-mentioned identification information query.

In some embodiments, the pickup instruction may include the location information of the target cargo, and the handling robot may directly obtain the location information of the target cargo from the pickup instruction.

In some embodiments, the positioning information of the target cargo includes plane position information, direction information, and/or height information, etc. The plane position information may be, for example, coordinate values on the horizontal plane, or the row number and column number in the warehouse, etc. The direction information may be, for example, the conveying direction of the target cargo, and the height information may be, for example, the number of shelves, or the coordinate value in the height direction.

S102: Move the handling robot to the target position according to the positioning information of the target cargo.

In some embodiments, the positioning information of the target cargo includes plane position information and height information; moving the handling robot to the target position includes: moving the handling robot to a position corresponding to the plane position information; and lifting the handling device to a position corresponding to the height information height.

In some embodiments, moving the handling robot to the target position further includes: rotating the handling device to the handling direction of the target goods. If the conveying device can only carry goods from one direction, the conveying device needs to be rotated to the direction of the goods.

In some embodiments, the chassis of the handling robot may be moved to the target position first, and then the handling device is raised and lowered to the target height and/or the handling device is rotated to the target direction.

In other embodiments, the chassis of the handling robot may also be moved to the target position, and the handling device may be raised and lowered to the target height and/or the handling device may be rotated to the target direction during the movement of the handling robot's chassis.

S103. Make the first camera of the handling robot try to read the preset identifier.

In some embodiments, the first camera is provided on the transport device and is a two-dimensional camera (also referred to as a two-dimensional image scanning module). Before the 2D camera reads the preset mark, the handling robot first turns on the lighting equipment to provide the light source for the 2D camera. The lighting equipment can be located in the conveying device or other suitable locations.

In some embodiments, the preset identifier is a shelf identifier for storing target goods. In other embodiments, the preset identification is a cargo identification on the target cargo. The preset logo may be a two-dimensional code or any other logo that can be photographed and read by the first camera, such as a graphic code.

S104. If the first camera cannot read the preset identifier, it enters an error recovery mode, and the task is aborted.

In some embodiments, if the first camera does not read the preset mark for the first time, the handling robot repeatedly lifts and lowers the handling device at a preset amplitude, and makes the first camera read the preset mark again during the lifting process of the handling device If the number of times that the first camera fails to successfully read the preset identifier exceeds the preset threshold, the error recovery mode is entered, the handling robot reports to the server, and the lighting equipment is turned off.

S105. If the first camera successfully reads the preset identification, then based on the positional relationship between the handling robot and the preset identification, determine whether the handling device can directly reach the position of the target cargo from the current station of the handling robot.

In some embodiments, when the first camera reads the preset mark, it is further checked whether the preset mark is missing or reversed. If the code is lost or the post is reversed, it will enter the reset mode and report to the server to notify the staff to correct it.

In some embodiments, judging whether the handling device can directly reach the position of the target cargo from the current position of the handling robot may include: judging whether the chassis of the handling robot is within the preset range of the preset identifier; if it is outside the preset range , Which means that the handling device cannot directly reach the position of the target cargo from the current station of the handling robot, and the position of the chassis of the handling robot needs to be adjusted.

S106. If it is determined that the handling device cannot directly reach the target goods from the current station of the handling robot, adjust the chassis position of the handling robot, and return to execute S103 to read the preset flag again.

S107. If it is determined that the handling device can directly reach the target cargo from the current station of the handling robot, use the second camera of the handling robot to photograph the target cargo to obtain posture information of the target cargo and relative position information of the target cargo and the handling device.

Using the second camera of the handling robot to photograph the target cargo can obtain three-dimensional imaging information of the target cargo. By processing the three-dimensional imaging information, the posture information of the target cargo and the relative position information of the target cargo and the handling device can be obtained.

In some embodiments, the posture information of the target cargo includes at least one of the following: size information of the target cargo, and the orientation of the target cargo. The size information of the target cargo includes width information. In some embodiments, for example, when the distance between adjacent layers of the shelf is fixed, the size information of the target goods may not include height information. It is understood that the present disclosure is not limited to this. In some embodiments, the size information of the target cargo may include the size information (also called depth information) of the target cargo in the pickup direction; in some embodiments, for example, when the second camera is a depth-of-field camera, the target The size information of the cargo may not include the depth information of the target cargo.

In some embodiments, the positional relationship information between the handling device and the target cargo includes at least one of the following: the deviation of the handling device and the target cargo in the traveling direction of the handling device, the relative distance in the picking direction of the handling device, The placement angle of the target cargo relative to the handling device.

In some embodiments, the second camera is provided on the transport device and is a three-dimensional camera (also referred to as a three-dimensional imaging information acquisition module), such as a depth camera, a panoramic camera, and the like.

In some embodiments, the second camera is a camera composed of two two-dimensional cameras, or other devices that can collect three-dimensional imaging information. For example, in a specific implementation, a time-of-flight method three-dimensional imaging device can be used. This device can send light pulses to the target, and then use a sensor to receive the light returned from the object by detecting the flight (round trip) time of the light pulse. To get the target distance.

In some embodiments, after it is determined that the handling device can directly reach the target cargo from the current position of the handling robot, it is determined based on the shooting information of the second camera whether there is cargo at the corresponding location of the target cargo. If it is determined that there is cargo at the target cargo location, It is further judged whether the size of the cargo is within the acceptable size range of the conveying device. If it is determined that there is no cargo in the corresponding position of the target cargo or the size of the cargo exceeds the acceptable size range of the conveying device, the reset mode is entered and reported to the server.

S108: Adjust the posture of the conveying device according to the posture information of the target cargo and the relative position information of the target cargo and the conveying device.

In some embodiments, adjusting the posture of the handling device includes: adjusting the position of the chassis of the handling robot, lifting the handling device, and/or rotating the handling device, so that the specific position of the handling robot is aligned with the specific position of the target cargo.

In some embodiments, the conveying device has a first telescopic arm and a second telescopic arm, the conveying device is configured to place the goods between the first telescopic arm and the second telescopic arm when picking up the goods, and adjusting the posture of the conveying device includes: Adjust the position of the chassis of the handling robot, the bracket of the lifting and handling device, and/or the support frame of the rotating handling device, so that the specific position (such as the intermediate position) between the first telescopic arm and the second telescopic arm is consistent with the specific target cargo The position (such as the center position) is aligned, and the distance between the first telescopic arm and the second telescopic arm of the conveying device is adjusted according to the size information of the cargo to adapt to the size of the target cargo.

S109. Make the handling device take out the target cargo in the adjusted posture.

After the handling device adjusts the position of the handling device, it extends the handling device according to the relative position information of the target cargo and the handling device to take out the target cargo.

In some embodiments, the second camera is a depth camera, so that the carrying device takes out the target goods in an adjusted position includes: determining the pickup depth of the carrying device, and adjusting the first telescopic arm and the second telescopic arm The posture extends to the pickup depth; where the pickup depth can be equal to the predetermined percentage of the maximum value of the relative distance between the handling device and the target goods in the pickup direction of the handling device and the maximum size of all the goods to be picked up in the pickup direction ( For example, the sum of 50%); or, the pickup depth can be equal to the preset maximum extension size. In the case of using a depth camera, the handling robot can obtain the relative distance between the handling device and the target cargo in the picking direction of the handling device, but may not be able to obtain the depth information of the target cargo. In this case, you can use the cargo to be picked up. The maximum value of the dimensions in the pick-up direction or the preset maximum extension size determines the pick-up depth of the handling device.

In some embodiments, after the handling robot adjusts the posture of the handling device, and before extending the handling device to pick up the goods, it is determined whether the extending of the handling device will collide with the shelf. Through this step, it can be avoided that the handling device is extended and colliding with the shelf, causing the handling device or the goods to be damaged. If it is judged that the conveying device will collide with the shelf after it is extended, it will enter the error recovery mode, reset the conveying device, and execute S107 again to re-adjust the position and posture of the conveying device. If it is still judged that the conveying device will collide with the shelf after the extension is re-adjusted , Then report to the server and suspend the task.

In some embodiments, the conveying device is raised and lowered and the shelf identification is read, thereby knowing the relative position of the conveying device and the shelf, and judging whether the conveying device is extended to collide with the shelf. The shelf mark can be located above or below the target goods. If it is above the goods, the conveying device is raised to read the shelf mark, otherwise, the conveying device is lowered to read the mark on the shelf. The shelf identification can be photographed and read by the first camera, for example.

In the above-mentioned embodiment, a two-dimensional camera is used to photograph preset marks such as a goods identification or a shelf mark, and a three-dimensional camera is used to photograph the target goods to obtain three-dimensional imaging information of the goods. As an alternative, the above-mentioned preset identification is set as an identification that can be photographed and read by a 3D camera. In this way, in some embodiments, the handling robot may only have a 3D camera, that is, the first camera and the second camera in the above embodiments. The two cameras represent the same three-dimensional camera.

Fig. 2 is a schematic flow chart of a picking control method according to another embodiment of the present disclosure. The method is applied to a handling robot. The handling robot has a chassis and a handling device supported on the chassis for picking; referring to Fig. 2, the method includes:

S201. Receive a pick-up instruction, and obtain location information of the target goods according to the pick-up instruction.

S202: Move the handling robot to the target position according to the positioning information.

S203. Enable the handling robot to obtain the three-dimensional imaging information of the target cargo.

S204: Obtain posture information of the target cargo and positional relationship information between the handling device and the target cargo according to the three-dimensional imaging information.

S205: According to the positional relationship information and the posture information, adjust the posture of the conveying device, and make the conveying device take out the target cargo in the adjusted posture.

It is understandable that in some embodiments, it is also possible to obtain only the posture information of the target cargo, or only obtain the positional relationship information between the handling device and the target cargo, and adjust the posture of the handling device according to the positional relationship information. , And make the handling device take out the target cargo in an adjusted posture.

In some embodiments, the posture information of the target cargo includes the size information of the target cargo; the positional relationship information between the handling device and the target cargo includes: the deviation between the handling device and the target cargo in the traveling direction of the handling device, the handling device and the target The relative distance of the goods in the pick-up direction of the conveying device, and/or the placement angle of the target goods relative to the conveying device.

In some embodiments, the handling device is equipped with a sensing device; enabling the handling robot to obtain the posture information of the target cargo and the positional relationship information between the handling device and the target cargo includes: obtaining posture information of the target cargo based on the sensing device acting on the target cargo , And the positional relationship information between the handling device and the target cargo.

In some embodiments, the sensing device includes a three-dimensional camera.

In some embodiments, the three-dimensional camera includes a depth-of-field camera; the conveying device has a telescopic arm, and enabling the conveying device to take out the target goods in an adjusted posture includes: determining the pickup depth of the conveying device; and making the telescopic arm to adjust the The posture extends the pickup depth; where the pickup depth is equal to the sum of the relative distance between the handling device and the target goods in the pickup direction of the handling device and the predetermined percentage of the maximum value of the pickup direction dimensions of all the goods to be picked; Or, the pickup depth is equal to the preset maximum extension size.

In some embodiments, adjusting the position of the handling device according to the positional relationship information and the posture information includes: driving at least one of the chassis of the handling robot, the lifting handling device, or the rotating handling device, so that the specific position of the handling robot is related to the target cargo. The specific position of the alignment.

In some embodiments, the conveying device has a pair of telescopic arms, and adjusting the posture of the conveying device further includes: adjusting the distance between the pair of telescopic arms to adapt to the size of the target cargo.

In some embodiments, the posture information includes the size information of the target cargo; according to the positional relationship information and the posture information, adjusting the posture of the handling device includes: judging whether the target cargo exists; and if the target cargo exists, judging whether the size of the target cargo Within the acceptable size range of the handling device.

In some embodiments, before the handling device takes out the target goods in the adjusted posture, the method includes: determining whether the handling device will collide with the shelf when taking the goods.

In some embodiments, moving the handling robot to the target position includes: first moving the chassis of the handling robot to the target position, then lifting the handling device to the target shelf height and/or rotating the handling device to the target direction; or The chassis of the robot moves to the target position, and during the movement of the chassis of the carrying robot, the carrying device is raised and lowered to the target height and/or the carrying device is rotated to the target direction.

In the above embodiments, taking out the goods from the fixed shelf as an example is described. It is understandable that those skilled in the art can obtain the process of taking out the goods from the storage shelf from the above-mentioned embodiments, which will not be repeated in this disclosure.

Fig. 3 is a schematic flow chart of a delivery control method according to an embodiment of the present disclosure. The method is applied to a handling robot, which is equipped with a handling device; referring to Fig. 3, the method includes:

S301. The handling robot receives the delivery instruction, and obtains the positioning information of the target cargo.

In some embodiments, the delivery instruction may include the identification information of the target goods or the shelf where the target goods are stored; after receiving the delivery instruction, the handling robot can obtain the positioning information of the target goods through the above identification information query.

In some embodiments, the delivery instruction may include the location information of the target cargo, and the handling robot can directly obtain the location information of the target cargo from the delivery instruction.

S302: Move the handling robot to the target position according to the positioning information of the target cargo.

S303. Make the first camera of the handling robot try to read the preset identifier.

In some embodiments, the first camera is provided on the transport device, and before the two-dimensional camera reads the preset mark for the two-dimensional camera, the transport robot first turns on the lighting equipment to provide a light source for the two-dimensional camera. The lighting equipment can be located in the conveying device or other suitable locations.

In some embodiments, the preset identifier is a shelf identifier for storing target goods. In other embodiments, the preset identification is a cargo identification on the target cargo. The preset logo can be a two-dimensional code or any other logo that can be photographed and read by the first camera.

S304. If the first camera cannot read the preset identifier, it enters an error recovery mode, and the task is aborted.

S305: If the first camera successfully reads the preset mark, then based on the positional relationship between the handling robot and the preset mark, determine whether the handling robot is within the preset range of the preset mark.

S306: If it is determined that the handling robot is not within the preset range of the preset identification, adjust the chassis position of the handling robot, and return to execute S303 to read the preset identification again.

S307: If it is determined that the transport robot is within the preset range of the preset identifier, lift the transport device and collect the three-dimensional imaging information through the second camera.

The second camera is set on the conveying device. The purpose of lifting the conveying device is to raise the second camera to the corresponding position, that is, to make the second camera aim at the position where the target goods should be placed, and then aim at the position to collect the data through the second camera Three-dimensional imaging information.

In some embodiments, the second camera is a three-dimensional camera such as a depth camera, a panoramic camera, etc.

In some embodiments, the second camera is a camera composed of two two-dimensional cameras, or other devices that can collect three-dimensional imaging information.

S308: Determine whether there is a container on the shelf based on the collected three-dimensional imaging information.

In some embodiments, if there are already boxes on the shelf, the image information of the boxes and the corresponding point cloud data will be included in the collected 3D imaging information. If there are no boxes on the shelf, the collected 3D imaging information There will be no image information of the cargo box and the corresponding point cloud data.

S309. If there is a cargo box, enter the error recovery mode and abort the task.

In some embodiments, if the collected three-dimensional imaging information includes image information of the cargo box or point cloud data corresponding to the cargo box, it is determined that there is a cargo box, the error recovery mode is entered, and the handling robot reports to the server.

S310. If no cargo box exists, lower the handling device to place the target cargo on the shelf.

In some embodiments, if the collected three-dimensional imaging information does not have the image information of the container or the point cloud data corresponding to the container, that is, it is determined that there is no container and the target goods can be placed on the shelf, the handling robot lowers the handling device and moves the target The goods are placed on the corresponding position of the shelf.

In some embodiments, before the handling device places the target goods on the shelf, the method further includes: judging whether the target goods are suitable for placing the target goods on the shelf according to the size of the target goods.

In some embodiments, before the lifting of the conveying device, before collecting the three-dimensional imaging information through the second camera, it is determined whether the lifting of the conveying device will collide with the shelf. Through this step, it is possible to prevent the handling device from colliding with the shelf during the lifting and lowering of the goods and causing the handling device or the goods to be damaged. If it is determined that the lifting device will collide with the shelf, it will enter the error recovery mode, reset the transfer device, and execute S307 again to re-adjust the posture of the transfer device. If it is still judged that the transfer device will collide with the shelf after the extension is re-adjusted, then Report to the server and suspend the task.

In some embodiments, the conveying device is raised and lowered and the shelf identification is read, thereby knowing the relative position of the conveying device and the shelf, and determining whether the conveying device will collide with the shelf. The shelf mark can be located above or below the target goods. If it is above the goods, the conveying device is raised to read the shelf mark, otherwise, the conveying device is lowered to read the mark on the shelf. The shelf identification can be photographed and read by the first camera, for example.

Fig. 4 is a schematic flow chart of a delivery control method according to another embodiment of the present disclosure. The method is applied to a handling robot, and the handling robot is equipped with a handling device; referring to Fig. 4, the method includes:

S401. Receive a delivery instruction, and obtain positioning information of the target goods according to the delivery instruction.

S402: Move the handling robot to the target position according to the positioning information.

S403. Enable the handling robot to collect three-dimensional imaging information based on the target position.

S404: Determine whether there is a container on the shelf according to the three-dimensional imaging information.

S405. If no cargo box exists, enable the handling device to place the target cargo on the shelf.

In some embodiments, the handling device is equipped with a sensing device; enabling the handling robot to collect three-dimensional imaging information based on the target position includes: causing the perception device to collect three-dimensional imaging information based on the target position.

In some embodiments, the sensing device includes a three-dimensional camera.

In some embodiments, before the handling device places the target goods on the shelf, it includes: determining whether the handling device will collide with the shelf when the goods are placed.

Those skilled in the art will also understand that the various exemplary logic blocks, modules, circuits, and algorithm steps described in conjunction with the disclosure herein can be implemented as electronic hardware, computer software, or a combination of both.

The flowcharts and block diagrams in the accompanying drawings show the possible implementation architecture, functions, and operations of the system and method according to multiple embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram can represent a module, program segment, or part of the code, and the module, program segment, or part of the code contains one or more executables for realizing the specified logical functions. instruction. It should also be noted that in some alternative implementations, the functions marked in the block may also occur in a different order than marked in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, or they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and/or flowchart, and the combination of the blocks in the block diagram and/or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations Or it can be realized by a combination of dedicated hardware and computer instructions.

Fig. 5 is a schematic structural diagram of a control device according to another embodiment of the present disclosure. 5, an embodiment of the present disclosure further provides a control device, including: at least one processor 520; and a memory 510 communicatively connected with the at least one processor 520, the memory 510 stores executable code, when the executable code is When the at least one processor 520 is executed, the at least one processor 520 is caused to execute part or all of the above-mentioned methods in FIGS. 1 to 4.

The processor 520 may be a central processing unit (Central Processing Unit, CPU), other general-purpose processors, digital signal processors (Digital Signal Processors, DSPs), application specific integrated circuits (ASICs), on-site Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.

The memory 510 may include various types of storage units, such as a system memory, a read only memory (ROM), and a permanent storage device. The ROM may store static data or instructions required by the processor 520 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device adopts a large-capacity storage device (such as a magnetic or optical disk, flash memory) as the permanent storage device. In other embodiments, the permanent storage device may be a removable storage device (for example, a floppy disk, an optical drive). The system memory can be a readable and writable storage device or a volatile readable and writable storage device, such as dynamic random access memory. The system memory can store some or all of the instructions and data needed by the processor at runtime. In addition, the memory 510 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and magnetic disks and/or optical disks may also be used. In some embodiments, the memory 510 may include a removable storage device that can be read and/or written, such as a compact disc (CD), a read-only digital versatile disc (for example, DVD-ROM, dual-layer DVD-ROM), Read-only Blu-ray discs, ultra-density discs, flash memory cards (such as SD cards, min SD cards, Micro-SD cards, etc.), magnetic floppy disks, etc. The computer-readable storage medium does not include carrier waves and instantaneous electronic signals that are transmitted wirelessly or wiredly.

FIG. 6 is a schematic structural diagram of a conveying device provided in one of the embodiments of the present disclosure. Please refer to FIG. 6, a handling device 100 provided by one embodiment of the present disclosure. The handling device 100 can be applied to warehouse logistics equipment such as handling robots, shuttle cars, and three-dimensional warehouses. In this embodiment, the handling device 100 is applied to The handling robot is taken as an example for detailed description.

The handling device 100 includes a fork 102 and a three-dimensional imaging information acquisition module 20. The fork 102 is used to take out the goods from the shelf. The three-dimensional imaging information acquisition module 20 is installed on the fork 102 and is used to acquire three-dimensional imaging information of the goods to determine the position of the goods on the shelf. The three-dimensional imaging information acquisition module 20 may be a depth camera or a panoramic camera, or a combination of multiple cameras, as long as it can acquire the three-dimensional imaging information of the goods.

Fig. 7 is a disassembled schematic diagram of the conveying device shown in Fig. 6, in which the rotary drive module of the conveying device is shown. Please refer to FIG. 7, in some embodiments, the conveying device 100 further includes a bracket 30 and a rotation driving module 40. The fork 102 is mounted on the bracket 30, and the fork 102 can rotate relative to the bracket 30 around the vertical direction z. The rotary drive module 40 connects the fork 102 and the bracket 30, and the rotary drive module 40 is used to drive the fork 102 to rotate relative to the bracket 30 in a horizontal plane according to the position information of the goods, so that the fork 102 can be rotated to make it easier to take out The angle of the cargo is good for avoiding obstacles and aiming at the cargo.

The rotary drive module 40 may include a first sprocket mechanism 42 and a rotary drive motor 44. The first sprocket mechanism 42 is connected to the fork 102. The rotary drive motor 44 is used to drive the fork 102 relative to the carrier through the first sprocket mechanism 42. The frame 30 rotates. It can be understood that, according to actual conditions, the first sprocket mechanism 42 can also be replaced with a gear set, or it can be omitted directly, and the rotating drive motor 44 directly drives the fork 102 to rotate relative to the bracket 30.

Fig. 8 is a schematic structural view of the conveying device shown in Fig. 6 from another angle, in which the router of the conveying device is shown. Please refer to FIG. 8. In some embodiments, the shelf sticker is provided with a preset identification, such as a two-dimensional code, a barcode, and the like. The conveying device 100 further includes a two-dimensional image scanning module 50. The two-dimensional image scanning module 50 is installed on the fork 102 to obtain graphic code information on the shelf to determine the height of the fork 102. The two-dimensional image scanning module 50 may be a camera. It is understandable that, according to the actual situation, the two-dimensional image scanning module 50 can be omitted. For example, the fork 102 is always kept at a height for operation, and the fork 102 does not need to determine its height. For example, the fork 102 can be lifted and lowered. , But the lift height of the fork 102 is set by a preset program, and at this time, the height of the fork 102 does not need to be determined. When the three-dimensional imaging information acquisition module 20 can acquire all the required information, the two-dimensional image scanning module 50 may not be provided.

In some embodiments, the handling device 100 further includes a router 60. The router is installed on the fork 102 and is electrically connected to the three-dimensional imaging information acquisition module 20 and the two-dimensional image scanning module 50 to receive and deliver the three-dimensional imaging information and graphic code information. It can be understood that the router 60 can be omitted according to actual conditions. For example, the three-dimensional imaging information acquisition module 20 and the two-dimensional image scanning module 50 are directly connected to the host through two network cables, respectively.

Figure 9 is a schematic structural diagram of the fork of the transport device shown in Figure 6 in the first state, in which the manipulator of the fork extends and has obtained the goods; Figure 10 is the fork of the transport device shown in Figure 6 in the second state Schematic diagram of the structure, in which the robot arm of the fork picks up the goods and takes them back. Please refer to FIGS. 9 and 10 together. In some embodiments, the fork 102 includes a fork bracket 12, a telescopic arm 14 and a manipulator 16. The fixed end of the telescopic arm 14 is installed on the fork bracket 12, and the movable end of the telescopic arm 14 is installed with a manipulator 16. The movable end can move relative to the fork bracket 12 along the horizontal direction x, so that the manipulator 16 can extend to the position where the goods 101 can be obtained. In the position, the manipulator 16 is extended as shown in FIG. 9, or the manipulator 16 is retracted after obtaining the goods 101, and the manipulator 16 is retracted as shown in FIG. 10. The manipulator 16 is used to obtain goods 101. It can be understood that, according to actual conditions, the fork 102 is not limited to the above-mentioned form, as long as the fork 102 can take out the goods 101.

The telescopic arm 14 may include a second sprocket mechanism (not shown in the figure) and a telescopic drive motor (not shown in the figure). The second sprocket mechanism is connected to the movable end of the telescopic arm 14, and the telescopic drive motor is used to pass the second sprocket. The mechanism drives the movable end of the telescopic arm 14 to move relative to the fork bracket 12. It can be understood that, according to actual conditions, the second sprocket mechanism can be replaced with a pulley mechanism, a screw rod structure, etc., or can be omitted directly, and is directly driven by the movable end of the telescopic arm 14. In this case, the telescopic drive motor is a linear motor.

In some embodiments, the fork 102 further includes a pallet 18. The pallet 18 is installed on the fork bracket 12, and when the manipulator 16 is retracted after obtaining the goods 101, the manipulator 16 is used to store the obtained goods 101 on the pallet 18. It is understandable that, according to actual conditions, the pallet 18 can be omitted, and the fork 102 can store the taken-out goods 101 in a storage point.

Fig. 11 is a schematic structural diagram of the fork of the handling device shown in Fig. 6 in a third state, in which the movable push rod of the fork is retracted into the telescopic arm and extended. Please refer to FIGS. 9 to 11 together. In some embodiments, the manipulator 16 includes a movable push rod. The movable push rod can be retracted into the movable end, as shown in FIG. 11, to avoid the goods 101 when the manipulator 16 extends. The movable push rod can protrude from the movable end to pull the cargo 101 when the manipulator 16 is retracted, as shown in FIGS. 9 and 10. It can be understood that, according to the actual situation, the manipulator 16 is not limited to the above-mentioned form, for example, a gripping device such as a mechanical gripper or a magnetic chuck.

The manipulator 16 can be moved by rotating or moving, as long as it can receive the movable end or protrude from the movable end.

Fig. 12 is a schematic structural diagram of the fork of the handling device shown in Fig. 6 in the fourth state, in which the manipulator of the fork extends and has obtained the goods, and the pallet of the fork travels toward the goods. Please refer to FIGS. 10 and 12 together. In some embodiments, the pallet 18 can move relative to the fork support 12 along the horizontal direction x to travel to a position close to the goods 101 obtained by the robot 16 as shown in FIG. 12 When the goods 101 are stored on the pallet 18, they are returned, as shown in FIG. 10, the gap between the pallet 18 and the shelf can be reduced, and the goods 101 are not easy to fall from the gap.

Please refer to FIG. 9 again. In some embodiments, the number of telescopic arms 14 is two. The movable ends of the two telescopic arms 14 are separated along the horizontal longitudinal direction y, and the movable ends of the two telescopic arms 14 can move synchronously with respect to the fork support 12 along the horizontal transverse direction x. When the manipulator 16 extends to a position where the goods 101 can be obtained, the goods 101 are located between the movable ends of the two telescopic arms 14. When the manipulator 16 is retracted, the two telescopic arms 14 can transfer the goods 101 more stably.

In some embodiments, one of the telescopic arms 14 can move relative to the other telescopic arm 14 along the horizontal longitudinal direction y, so that the distance between the movable ends of the two telescopic arms 14 along the horizontal longitudinal direction y can be adjusted to adapt to different sizes goods.

In some embodiments, the fixed ends of the two telescopic arms 14 are movably mounted on the fork support 12, and the two telescopic arms 14 can move relative to the fork support 12 in the horizontal longitudinal direction y at the same time, and the movement of the two telescopic arms 14 The direction is opposite. In some other embodiments, the fixed end of one of the telescopic arms 14 is fixedly mounted on the fork bracket 12, and the fixed end of the other telescopic arm 14 is movably mounted on the fork bracket 12. When one of the telescopic arms 14 moves relative to the other telescopic arm 14 along the horizontal longitudinal direction y, one of the telescopic arms 14 is fixed relative to the fork support 12 and the other telescopic arm 14 moves relative to the fork support 12 along the horizontal longitudinal direction y.

FIG. 13 is a schematic structural diagram of a handling robot provided by an embodiment of the present disclosure. Please refer to FIG. 13, which provides a handling robot 10 according to an embodiment of the present disclosure, which can perform the foregoing method. The handling robot 10 includes a mobile chassis 200, a storage rack 300 (that is, the aforementioned storage device), an elevating assembly (not shown in the figure), and the aforementioned handling device 100. The storage rack 300 is installed on the mobile chassis 200 (i.e., the aforementioned chassis). The storage rack 300 is provided with a number of storage pallets 310 (i.e., the aforementioned layer boards) distributed in a vertical direction, and each storage pallet 310 is used to place goods. The handling device 100 is used to transport goods between a fixed shelf and any storage pallet 310, and the lifting assembly is used to drive the handling device 100 to move in a vertical direction, so that the handling device 100 is raised and lowered to the height of the corresponding storage pallet 310 or the fixed shelf the height of. When the handling device 100 is lifted to the height corresponding to the storage pallet 310, the handling device 100 moves the goods to the corresponding storage pallet 310 in the conveying direction, or the handling device 100 will be located on the corresponding storage pallet 310 in the conveying direction The goods are moved out. When the conveying device 100 is lifted to the height of the corresponding fixed shelf, the conveying device 100 moves the goods to the corresponding fixed shelf along the conveying direction, or the conveying device 100 moves the goods on the corresponding fixed shelf along the conveying direction.

According to another embodiment of the present disclosure, the handling device includes: a fork for taking out the goods; and a three-dimensional imaging information acquisition module installed on the fork, and the three-dimensional imaging information acquisition module for obtaining three-dimensional imaging information of the goods to determine The location of the goods.

In some embodiments, the handling device further includes a bracket and a rotary drive module; the fork is mounted on the bracket, and the fork can rotate relative to the bracket in a vertical direction; the rotary drive module connects the fork and the bracket to rotate The driving module is used for driving the fork to rotate relative to the carriage in the horizontal plane according to the position information of the goods.

In some embodiments, the conveying device further includes a two-dimensional image scanning module; the two-dimensional image scanning module is installed on the fork, and is used to obtain graphic code information to determine the height of the fork.

In some embodiments, the transport device further includes a router; the router is electrically connected to the 3D imaging information acquisition module and the 2D image scanning module to receive and deliver the 3D imaging information and graphic code information.

In some embodiments, the fork includes a fork bracket, a telescopic arm, and a manipulator; the fixed end of the telescopic arm is installed on the fork bracket, the movable end of the telescopic arm is installed with a manipulator, and the movable end can move horizontally relative to the fork bracket. In order to make the manipulator extend to the position where the goods can be obtained, or make the manipulator retract after obtaining the goods; the manipulator is used to obtain goods.

In some embodiments, the fork further includes a pallet; the pallet is installed on the fork bracket, and when the manipulator is retracted after obtaining the goods, the manipulator is used to store the obtained goods on the pallet.

In some embodiments, the manipulator includes a movable push rod; the movable push rod can be inserted into the movable end to avoid the goods when the manipulator is extended; the movable push rod can protrude from the movable end to pull the goods when the manipulator is retracted.

In some embodiments, the pallet can be moved horizontally and transversely relative to the fork bracket to travel to a position close to the goods acquired by the robot, or return when the goods are stored on the pallet.

In some embodiments, the number of telescopic arms is two; the movable ends of the two telescopic arms are horizontally and longitudinally separated, and the movable ends of the two telescopic arms can move synchronously in the horizontal direction relative to the fork support; when the manipulator extends When exiting to a position where the goods can be obtained, the goods are located between the movable ends of the two telescopic arms.

In some embodiments, one of the telescopic arms can move relative to the other telescopic arm in the horizontal and longitudinal direction, so that the distance between the movable ends of the two telescopic arms in the horizontal and longitudinal direction can be adjusted.

According to another embodiment of the present disclosure, the handling robot includes the aforementioned handling device.

In some embodiments, the handling robot further includes a cargo storage device and a chassis; the cargo storage device is used to store the cargo taken out by the fork; the chassis carries the cargo storage device and the handling device, and the chassis is movable.

In some embodiments, the cargo storage device includes at least two layers distributed at different heights; the handling robot also includes a lifting drive device; the lifting drive device is used to drive the lifting device to lift, so that the fork can store the taken-out cargo To at least one of two laminates.

Compared with the prior art, in the handling device provided by the present disclosure and the handling robot provided with the handling device, by arranging a 3D imaging information acquisition module on the fork of the handling device, the 3D imaging information acquisition module can acquire 3D imaging of goods Information to determine the location of the cargo box, avoiding the cumbersome problem of labeling.

In the above-mentioned embodiment, the description is made by taking the status information of the target cargo as the posture information of the target cargo.

Hereinafter, the method of picking up the target cargo with the status information of the target cargo as the size information will be described. First of all, the structure of the applicable handling robot will be described for the pickup method using the status information of the target cargo as the size information of the target cargo.

FIG. 14 is a schematic structural diagram of a handling robot provided by an embodiment of the disclosure. Referring to FIG. 14, an embodiment of the present disclosure provides a handling robot 10, which includes a mobile chassis 200, a storage shelf 300, a lifting assembly 400 and a handling device 100. The storage rack 300 is installed on the mobile chassis 200. The storage rack 300 is provided with a number of storage pallets 310 distributed along the vertical direction. Each storage pallet 310 is used to place goods. The handling device 100 is used to store goods on a fixed rack and any one of the storage racks. The cargo is transported between the pallets 310, and the lifting assembly 400 is used to drive the handling device 100 to move in a vertical direction, so that the handling device 100 is raised and lowered to the height of the corresponding storage pallet 310 or the height of the fixed shelf. When the handling device 100 is lifted to the height corresponding to the storage pallet 310, the handling device 100 moves the goods to the corresponding storage pallet 310 in the conveying direction, or the handling device 100 will be located on the corresponding storage pallet 310 in the conveying direction The goods are moved out. When the conveying device 100 is raised and lowered to the height of the corresponding fixed shelf, the conveying device 100 moves the goods to the corresponding fixed shelf along the conveying direction, or the conveying device 100 moves the goods on the corresponding fixed shelf along the conveying direction.

In some embodiments, the conveying device includes a support frame, a first arm portion and a second arm portion supported by the support frame, and driving at least one of the first arm portion and the second arm portion to move to adjust the first arm portion and the second arm portion. The driving device for the spacing of the second arm, the goods are placed between the first arm and the second arm when the carrying device is moved out of the goods. Adjusting the distance between the first arm and the second arm can make the carrying device adapt to different sizes Of goods.

In some embodiments, the conveying device further includes a bracket, the bracket can move in a vertical direction, and the support frame is rotatably arranged on the bracket along a vertical axis.

FIG. 15 is a schematic flowchart of a pick-up control method according to an embodiment of the disclosure. This method can be applied to the above handling robot. It is understandable that the method of this embodiment can also be applied to other handling robots that can adjust the distance between two arm parts to adapt to goods of different sizes. Referring to Figure 15, the method includes:

S21. The handling robot receives the pick-up instruction and obtains the location information of the target goods.

In some embodiments, the pickup instruction may include the identification information of the target goods or the shelf where the target goods are stored; after receiving the pickup instruction, the handling robot may obtain the location information of the target goods through the above identification information query.

S22. Move the handling robot to the target position according to the positioning information of the target cargo.

In some embodiments, the chassis of the handling robot may be first moved to the target plane position, and then the handling device is raised and lowered to the target height and/or the handling device is rotated to the target direction.

In other embodiments, the chassis of the handling robot may also be moved to the target plane position, and the handling device may be raised and lowered to the target height and/or the handling device may be rotated to the target direction during the movement of the handling robot's chassis.

S23. Make the first camera of the handling robot try to read the preset identifier.

In some embodiments, the first camera is provided on the transport device and is a two-dimensional camera. Before the 2D camera reads the preset mark, the handling robot first turns on the lighting equipment to provide the light source for the 2D camera. The lighting equipment can be located in the conveying device or other suitable locations.

In some embodiments, the preset identification is the shelf identification of the shelf where the target goods are stored. In other embodiments, the preset identification is a cargo identification on the target cargo. The preset logo can be a two-dimensional code or any other logo that can be photographed and read by the first camera.

S24. If the first camera cannot read the preset identifier, it enters the error recovery mode and the task is aborted.

In some embodiments, if the first camera does not read the preset mark for the first time, the transport robot repeatedly lifts and lowers the transport device at a preset amplitude, and causes the first camera to read the preset mark again during the lifting process of the transport device. If the number of times that the first camera fails to read the preset identifier exceeds the preset threshold, it enters the error recovery mode, the handling robot reports to the server, and the lighting equipment is turned off.

S25. If the first camera successfully reads the preset mark, then based on the positional relationship between the handling robot and the preset mark, judge whether the handling device can directly reach the position of the target cargo from the current position of the handling robot.

S26. If it is determined that the handling device cannot directly reach the target goods from the current station of the handling robot, adjust the chassis position of the handling robot, and return to execute S23 to read the preset flag again.

S27. If it is determined that the handling device can directly reach the target cargo from the current station of the handling robot, use the second camera of the handling robot to photograph the corresponding position of the target cargo to obtain posture information of the target cargo including cargo size information.

In some embodiments, the second camera is provided on the transport device and is a three-dimensional camera, such as a depth camera, a panoramic camera, and so on.

In some embodiments, in addition to the cargo size information, the posture information of the target cargo also includes depth information of the target cargo relative to the handling device, and/or placement angle information, etc.

S28. Adjust the posture of the conveying device according to the posture information of the target cargo.

According to the posture information of the target cargo, the relative position of the target cargo and the conveying device can be known, so that the posture of the conveying device can be further adjusted so that the conveying device can obtain the target cargo along the conveying direction.

The posture information of the target cargo includes cargo size information, and adjusting the posture of the conveying device includes adjusting the distance between the first arm and the second arm of the conveying device according to the cargo size information to adapt to the size of the target cargo.

In some embodiments, adjusting the posture of the handling device further includes: adjusting the position of the chassis of the handling robot, the lifting handling device, and/or the rotating handling device, so that the specific position of the handling robot is aligned with the specific position of the target cargo.

In some embodiments, both the first arm and the second arm of the conveying device are movable arms. Adjusting the posture of the conveying device includes: adjusting the position of the chassis of the conveying robot, the bracket of the lifting conveying device, and/or the supporting frame of the rotating conveying device, so that the specific position between the first arm and the second arm (for example, The intermediate position) is aligned with the specific position (such as the center position) of the target cargo, and the first arm and the second arm are adjusted simultaneously or sequentially so that the distance between the first arm and the second arm adapts to the size of the target cargo. The adjustment distance of the first arm portion and the second arm portion may be the same or different.

In other embodiments, the first arm is a movable arm and the second arm is a fixed arm. Adjusting the posture of the handling device includes: adjusting the position of the chassis of the handling robot, the bracket of the lifting handling device, and/or the supporting frame of the rotating handling device within a preset range, so that the first arm is connected to the side edge of the target cargo Comply with the corresponding preset positional relationship (for example, the first arm is on the outside of one side edge of the target cargo with a preset distance between the two), and adjust the second arm so that the second arm is on the other side of the target cargo The edge conforms to the corresponding preset position relationship (for example, the second arm is outside the edge of the other side of the target cargo with a preset distance between the two), so that the distance between the first arm and the second arm adapts to the target cargo size of.

S29. The first arm and the second arm are used to take out the target cargo at the adjusted distance.

After the handling robot adjusts the posture of the handling device, it extends the handling device, and the first arm and the second arm take out the target goods at the adjusted distance.

In some embodiments, after the handling robot adjusts the posture of the handling device, the first arm and the second arm can take out the target goods at the adjusted distance, for example, by setting the first arm on the And/or the sensor of the second arm judges whether the first arm and the second arm will collide with the target cargo; if it is judged that they will collide, the pickup task will be aborted, such as stopping or retracting the arms, and notify the management Process or terminate the task of picking up the goods, and give up picking up the goods; if it is judged that there will be no collision, then pick up the goods.

In the above embodiment, a three-dimensional camera is used to photograph the target cargo to obtain the size information of the cargo. As an alternative, the size information of the target cargo can be obtained from the external management system of the handling robot. For example, in some embodiments, the pickup instruction received by the handling robot includes the size information of the target cargo, so that the size information of the target cargo can be directly obtained from the pickup instruction.

In the above-mentioned embodiment, a two-dimensional camera is used to photograph a preset mark such as a goods mark or a shelf mark, and a three-dimensional camera is used to photograph the target goods to obtain the size information of the goods. As an alternative, the above-mentioned preset identification is set as an identification that can be photographed and read by a three-dimensional camera. In this way, in some embodiments, the handling robot may only be provided with a three-dimensional camera, that is, the first camera and the first camera in the above-mentioned embodiment. The second camera represents the same three-dimensional camera.

In the above embodiment, the posture of the conveying device is adjusted according to the posture information of the target cargo obtained by the three-dimensional camera. 16 is a schematic flowchart of a pick-up control method according to another embodiment of the present disclosure. In this embodiment, the posture of the handling device is adjusted according to the preset mark on the target goods. Referring to Figure 16, the method includes:

S31. The handling robot receives the pickup instruction, and obtains the positioning information and size information of the target cargo.

Among them, the location information of the target goods may be the location information of the target shelf where the target goods are stored.

In some embodiments, the pick-up instruction may include the identification information of the target shelf; after receiving the pick-up instruction, the handling robot can query and obtain the location information of the target shelf through the identification information.

In some embodiments, the pickup instruction may include the location information of the target shelf, and the handling robot may directly obtain the location information of the target shelf from the pickup instruction.

S32. Move the handling robot to the target position according to the positioning information of the target cargo.

In some embodiments, the positioning information of the target goods includes the plane position information and height information of the target shelf; moving the handling robot to the target position includes: moving the handling robot to the plane position of the target shelf; and lifting the handling device to the target shelf the height of.

In some embodiments, moving the handling robot to the target position further includes: rotating the handling device to the cargo handling direction.

S33. The camera of the handling robot tries to read the shelf identification.

In some embodiments, the camera is set on the conveying device and is a two-dimensional camera. Before the 2D camera reads the shelf mark, the handling robot turns on the lighting equipment to provide the light source for the 2D camera. The lighting equipment can be located in the conveying device or other suitable locations.

The shelf identification can be a two-dimensional code or any other identification that can be photographed and read by a camera.

S34. If the camera cannot read the shelf mark, it enters the error recovery mode and terminates the task.

In some embodiments, if the camera does not read the shelf identification for the first time, the handling robot repeatedly raises and lowers the handling device at a preset amplitude, and causes the camera to read the shelf identification again when the handling device is raised and lowered. If the number of unsuccessful reading of the shelf identification exceeds the preset threshold, the error recovery mode is entered, the handling robot reports to the server, and the lighting equipment is turned off.

S35. If the camera successfully reads the shelf identification, then based on the positional relationship between the handling robot and the shelf identification, it is determined whether the handling device can directly reach the position of the target goods from the current station of the handling robot.

In some embodiments, when the camera reads the shelf identification, it is checked whether the shelf identification is missing or reversed. If the code is lost or the post is reversed, it will enter the reset mode and report to the server to notify the staff to correct it.

In some embodiments, judging whether the handling device can reach the position of the target cargo from the current position of the handling robot may include: judging whether the chassis of the handling robot is within the preset range of the shelf identification; if it is outside the preset range, it is indicated The handling device cannot directly reach the position of the target cargo from the current station of the handling robot, and the position of the chassis of the handling robot needs to be adjusted.

S36. If it is determined that the handling device cannot directly reach the target goods from the current station of the handling robot, adjust the chassis position of the handling robot, and return to execute S33 to read the shelf identification again.

S37. If it is determined that the handling device can directly reach the target cargo from the current station of the handling robot, a camera is taken to read the preset identification on the target cargo.

S38. Adjust the posture of the handling device according to the preset mark on the target cargo and the cargo size information.

In some embodiments, the preset logo on the target cargo is set at a specific position (such as a center position) of the cargo, and adjusting the pose of the handling device includes: adjusting the position of the chassis of the handling robot, lifting and handling devices, and/or rotating handling devices, So that the specific position of the handling robot is aligned with the specific position of the preset mark on the target cargo.

Adjusting the posture of the conveying device also includes: adjusting the distance between the first arm and the second arm of the conveying device according to the cargo size information to adapt to the size of the target cargo.

S39. The first arm and the second arm are used to take out the target cargo at the adjusted distance.

In some embodiments, after the handling robot adjusts the posture of the handling device, and before extending the handling device to pick up the goods, it is judged whether the extension of the handling device will collide with the shelf.

In the foregoing embodiment, the pickup instruction received by the handling robot includes the size information of the target cargo, and the handling robot directly obtains the size information of the target cargo from the pickup instruction. In some embodiments, the handling robot can also obtain the size information of the target cargo by using a camera to shoot the target cargo.

17 is a schematic flow chart of a picking control method according to another embodiment of the present disclosure. The method is applied to a handling robot. The handling robot has a chassis and a handling device supported on the chassis for picking up goods. The handling device has a first arm and a first arm. The second arm, the conveying device is configured to place the goods between the first arm and the second arm when picking up the goods; referring to Figure 17, the method includes: S41, receiving a pick-up instruction, and obtaining the target according to the pick-up instruction Positioning information of the goods;

S42. Obtain the size information of the target cargo and the positional relationship information between the handling device and the target cargo;

S43. Move the handling robot to the target position according to the positioning information, the position relationship information and the size information of the target cargo, and adjust the pose of the handling device, which includes at least adjusting the distance between the first arm and the second arm to adapt to the target The size of the cargo;

S44. The first arm and the second arm are used to take out the target cargo at the adjusted distance.

It is understandable that the pick-up control method in the present disclosure does not have to be executed in the order shown in FIG. 17, for example, part of the information in S42 may be obtained first, and then some actions in S43 may be executed, and then other information in S42 may be obtained. Part of the information, and perform other parts of the actions in S43; for example, you can also perform part of the actions in S43 first, then obtain the information in S42, and then execute other parts of the actions in S43; and so on, as long as the purpose of the present disclosure can be achieved .

In another embodiment, obtaining the size information of the target cargo includes: obtaining the size information of the target cargo by allowing the handling robot to obtain the image information of the target cargo; enabling the first arm and the second arm to take out the target cargo at an adjusted distance Including: extend the first arm and the second arm to the position where the first arm and the second arm are extended to the position where the largest dimension in the picking direction can be taken out of all the goods to be taken, and taken out with the adjusted spacing Target cargo. In this embodiment, a two-dimensional or three-dimensional camera can be set in the handling robot, and the size information of the goods can be obtained by shooting the identification code with the camera, and the identification code can be pasted on the goods, and the position between the handling robot and the goods can be obtained by shooting with the camera relationship. As an option, you can adjust the distance between the first arm and the second arm to the maximum of the width of all the goods to be picked up in the warehouse when the chassis moves to the target position, so as to save pickup time . It is understandable that when the first arm and the second arm are used to take out the target goods at the adjusted distance, it can be judged whether the size information of the goods in the pickup direction can be obtained according to the image information of the goods. If yes, then Use this size information to control the extension size of the first arm and the second arm to pick up the goods, otherwise, make the first arm and the second arm extend to the one with the largest size in the picking direction among all the goods to be picked up position.

In another embodiment, obtaining the size information of the target cargo includes: obtaining the size information of the target cargo by allowing the handling robot to obtain the three-dimensional imaging information of the target cargo; enabling the first arm and the second arm to take out the target at an adjusted distance The cargo includes: extending the first arm portion and the second arm portion to a preset maximum extension size, and taking out the target cargo at an adjusted interval. In this embodiment, a three-dimensional camera may be set in the handling robot, the size information of the goods can be obtained by shooting with the three-dimensional camera, the identification code is affixed to the goods, and the positional relationship between the handling robot and the goods can be obtained by shooting the identification code with the two-dimensional camera. As an option, you can adjust the distance between the first arm and the second arm to the maximum of the width of all the goods to be picked up in the warehouse when the chassis moves to the target position, so as to save pickup time . It is understandable that when the first arm and the second arm are used to take out the target goods at the adjusted distance, it can be judged whether the goods can be obtained according to the three-dimensional imaging information of the goods in the direction of the size of the goods, if so, The size information is used to control the extension size of the first arm and the second arm to pick up the goods, otherwise, the first arm and the second arm are extended to the preset maximum extension size to pick up the goods.

In another embodiment, obtaining the size information of the target cargo includes: obtaining the size information of the target cargo from the external management system of the handling robot; obtaining the positional relationship information between the handling device and the target cargo includes: based on presets on the target cargo The identification obtains the positional relationship information between the handling device and the target cargo; according to the positioning information, the positional relationship information and the size information of the target cargo, the handling robot is moved to the target position, and the pose of the handling device is adjusted including: according to the positioning information and the target The size information of the cargo makes the chassis of the handling robot move to the target position. During the movement of the chassis or after the chassis moves to the target position, adjust the distance between the first arm and the second arm according to the size information of the target cargo, and , Adjust the position and posture of the handling device according to the positional relationship information between the handling device and the target cargo obtained based on the preset identification on the target cargo. In this embodiment, there may be errors in the size information of the target cargo obtained from the external management system, resulting in the failure to retrieve the cargo. Therefore, the first arm and the second arm are taken out at an adjusted interval. During the process of the target cargo, the sensors provided on the first arm and/or the second arm can determine whether the first arm and the second arm will hit the target cargo; if it is judged that they will hit the target cargo, the pickup will be aborted Tasks, such as stopping or retracting the arms, notifying the management staff, or terminating the task of picking up the goods, giving up picking the container; if it is judged that there will be no collision, then picking up the goods. In this embodiment, there is no need to set up a three-dimensional camera, which has the advantage of lower cost.

In another embodiment, moving the handling robot to the target position includes: moving the chassis of the handling robot to the target position, and adjusting the first arm and the second arm according to the pre-stored size information of the target cargo obtained from the external management system of the handling robot. The distance between the two arms; obtaining the size information of the target cargo includes: obtaining the actual size information of the target cargo by allowing the handling robot to obtain the three-dimensional imaging information of the target cargo; adjusting the pose of the handling device includes: judging the actual size information of the target cargo and the target Whether the pre-stored size information of the goods is consistent, if not, readjust the distance between the first arm and the second arm according to the actual size information. In this embodiment, the width between the two arms of the conveying device can be adjusted before the conveying robot moves to the target position, which can improve the efficiency of the entire system.

18 is a schematic flowchart of a picking control method according to another embodiment of the present disclosure. The method is applied to a handling robot. The handling robot has a chassis and a handling device supported on the chassis for picking up goods. The handling device has a first arm and a first arm. The second arm, the conveying device is configured to place the goods between the first arm and the second arm when picking up the goods; referring to Figure 18, the method includes:

S51. Receive the pick-up instruction, and obtain the location information of the target goods according to the pick-up instruction;

S52. Move the handling robot to the target position according to the positioning information;

S53. Obtain the size information of the target cargo;

S54. Obtain positional relationship information between the handling device and the target cargo;

S55. Adjust the posture of the conveying device according to the positional relationship information and the size information of the target cargo, where adjusting the posture of the conveying device includes at least adjusting the distance between the first arm and the second arm to adapt to the size of the target cargo; and ,

S56. The first arm and the second arm are used to take out the target cargo at the adjusted distance.

In some embodiments, obtaining the size information of the target cargo includes at least one of the following: obtaining the size information of the target cargo from the external management system of the handling robot; and obtaining the size information of the target cargo based on the handling robot's perception of the target cargo.

In some embodiments, obtaining the size information of the target cargo includes at least one of the following: obtaining the size information of the target cargo from the pickup instruction; obtaining the size information of the target cargo based on a preset mark on the target cargo; Obtain the image information of the target cargo to obtain the size information of the target cargo.

In some embodiments, the first arm portion is a movable arm portion, and the second arm portion is a fixed arm portion, and the distance between the first arm portion and the second arm portion is adjusted by moving the first arm portion.

In some embodiments, the first arm and the second arm are both movable arms, and adjusting the distance between the first arm and the second arm is achieved by moving the first arm and the second arm simultaneously or sequentially of.

In some embodiments, the handling device or the handling robot further has at least one sensing device; obtaining the positional relationship information between the handling robot and the target cargo includes: obtaining the handling based on the first perception information obtained by the at least one sensing device acting on the preset mark Positional relationship information between the robot and the target cargo; obtaining the size information of the target cargo includes: obtaining the size information of the target cargo based on the second perception information obtained by at least one sensing device acting on the target cargo.

In some embodiments, the handling device or the handling robot has two sensing devices, one of which is a two-dimensional camera, and the other is a three-dimensional camera. The first sensing information is obtained by the two-dimensional camera, and the second sensing device is a three-dimensional camera. The information is obtained by a three-dimensional camera.

In some embodiments, the handling device has only one two-dimensional camera or only one three-dimensional camera.

In some embodiments, the preset identifier is a goods identifier or a positioning identifier on the target goods, or a shelf identifier or a positioning identifier on the shelf where the target goods are stored. It is understandable that the cargo identification of the target cargo can be an identification code provided on the surface of the cargo or the container. The identification code can be the unique identification of the cargo or the container, or it can be the same as other goods or containers.

In some embodiments, before obtaining the positional relationship information between the handling device and the target cargo, it further includes: judging whether the target cargo exists; and if the target cargo exists, judging whether the size of the target cargo is within the acceptable size range of the handling device.

In some embodiments, adjusting the posture of the handling device further includes: driving at least one of the chassis of the handling robot, the lifting handling device, or the rotating handling device, so that the specific position of the handling robot is determined by the preset mark on the target cargo. Position alignment. It is understandable that the preset mark on the target goods may be the goods mark on the target goods or its container, or other positioning marks provided on the goods or the container.

In some embodiments, adjusting the posture of the handling device further includes driving at least one of the chassis of the handling robot, the lifting handling device, or the rotating handling device to align the specific position of the handling robot with the specific position of the target cargo.

In some embodiments, adjusting the posture of the handling device includes: driving at least one of the chassis of the handling robot, the lifting handling device, or the rotating handling device to make the specific position between the first arm and the second arm match the target The specific positions of the cargo are aligned, and the first arm and the second arm are adjusted simultaneously or sequentially, so that the distance between the first arm and the second arm adapts to the size of the target cargo.

In some embodiments, adjusting the posture of the handling device includes: aligning the first arm with one side edge of the target cargo by driving at least one of the chassis of the handling robot, the lifting handling device, or the rotating handling device, and adjusting the first arm. Two arms, so that the second arm is aligned with the other side edge of the target cargo.

In some embodiments, moving the handling robot to the target position includes: first moving the chassis of the handling robot to the target position, and then lifting the handling device to the target height and/or rotating the handling device to the target direction; or, making the handling robot The chassis moves to the target position, and during the movement of the chassis of the handling robot, the handling device is raised and lowered to the target height and/or the handling device is rotated to the target direction.

In some embodiments, taking out the target cargo at the adjusted distance between the first arm and the second arm includes: during the pick-up process of the first arm and the second arm, through the first arm and/or The sensor of the second arm judges whether it will hit the target cargo, if it is yes, then suspend or terminate the pickup task, if it is no, then pick up the cargo.

In the above embodiments, taking out the goods from the fixed shelf as an example is described. It is understandable that a person skilled in the art can obtain the process of taking out the goods from the storage shelf 300 from the above-mentioned embodiment, which will not be repeated in this disclosure.

The following provides a specific example of a transport device 100 that can execute the methods of the above embodiments. It is understood that the present disclosure is not limited to this, and can also be implemented by other suitable transport devices.

19 is a schematic structural diagram of a state where the arms on both sides of the conveying device are far away from each other according to an embodiment of the present disclosure; FIG. 20 is a schematic structural diagram of a state where the arms on both sides of the conveying device are close to each other according to an embodiment of the present disclosure. As shown in FIG. 19 and FIG. 20, an embodiment of the present disclosure provides a conveying device 100 for conveying goods along a conveying direction. The conveying device 100 includes a support frame 110, two side arms 120 and a lateral drive assembly 130. Wherein, the two side arms 120 can be used as the first arm portion and the second arm portion in the above method. The support frame 110 extends in a direction perpendicular to the conveying direction in a horizontal plane. Two side arms 120 are respectively disposed at two ends of the extension direction of the support frame 110, the two side arms 120 respectively extend along the conveying direction, and at least one side arm 120 is movably disposed on the support frame 110 along the extension direction of the support frame 110. The lateral drive assembly 130 is in transmission connection with at least one side arm 120. The lateral drive assembly 130 drives the at least one side arm 120 to move along the extension direction of the support frame 110, so that the two side arms 120 approach or move away from each other along the extension direction of the support frame 110, When the two side arms 120 are close to each other along the extending direction of the support frame 110, the size of the carried goods can be adapted. In the above-mentioned conveying device 100, the movable side arm 120 along the extension direction of the support frame 110 can adjust the distance between the two side arms 120 according to the external dimensions of the goods, and then the various parts of the conveying device 100 cooperate to perform the conveying action, which greatly enhances The adaptability of the handling device 100 and the handling robot 10 provided by the present disclosure to different sizes of cargo containers effectively improves the cargo handling efficiency.

When the distance between the two side arms 120 along the extending direction of the support frame 110 is changed within a set range, it can be suitable for the cargo to be carried. Optionally, two side arms 120 are respectively movably arranged on the support frame 110 along the extension direction of the support frame 110; or only one side arm 120 is movably arranged on the support frame 110 along the extension direction of the support frame 110, and the other side arm 120 It is fixed to the support frame 110 along the extension direction of the support frame 110; it should be noted that the side arm 120 fixed to the support frame 110 along the extension direction of the support frame 110 can move relative to the support frame 110 in other directions, or in other directions. It is also fixed relative to the support frame 110 in other directions. Both of the above two solutions can realize that the distance between the two side arms 120 along the extension direction of the support frame 110 is adjustable. The present disclosure does not limit the number of the side arms 120 movably arranged on the support frame 110 along the extension direction of the support frame 110. As shown in FIGS. 6-7, in an embodiment of the present disclosure, the two side arms 120 are a horizontal fixed arm 120a and a horizontal movable arm 120b, and the horizontal fixed arm 120a is fixedly arranged on the support frame 110 along the extension direction of the support frame 110. At one end of the support frame 110, the horizontal movable arm 120b is movably disposed on the support frame 110 along the extension direction of the support frame 110. When the horizontal movable arm 120b moves along the extension direction of the support frame 110, it approaches or moves away from the horizontal fixed arm 120a. This arrangement ensures that the transport device 100 has a simpler structure while adjusting the distance between the arms 120 on both sides. The operation stability of the handling device 100 provided in this embodiment.

The function of the lateral drive assembly 130 is to drive the side arm 120 movably arranged along the extension direction of the support frame 110 to move along the extension direction of the support frame 110, thereby realizing the adaptation of the handling device 100 to the size of the cargo to be carried. As an achievable way, the lateral drive assembly 130 includes a lateral power source and a lateral transmission structure. The output end of the lateral power source is drivingly connected to the input end of the lateral transmission structure, and the output end of the lateral transmission structure is supported along with the lateral movable arm 120b. The extension direction of the frame 110 is fixedly connected. In other embodiments, the lateral drive assembly 130 may only include a power source, and the output end of the power source is directly connected in transmission with the lateral movable arm 120b, so as to drive the lateral movable arm 120b to move along the extension direction of the support frame 110; for example, the lateral drive assembly 130 includes air cylinders, hydraulic cylinders or linear motors.

Further, as shown in FIGS. 19 and 20, the transverse power source includes a transverse motor 131, the transverse transmission structure includes a transverse traction cable 132 and at least two transverse transmission wheels 133, and the at least two transverse transmission wheels 133 extend along the extension direction of the support frame 110. The at least one lateral transmission wheel 133 is connected to the output shaft of the lateral motor 131 at intervals. The lateral traction cable 132 is sleeved on the at least two lateral transmission wheels 133. The lateral traction cable 132 and the lateral movable arm 120b are along the support frame. The extension direction of the 110 is fixedly connected, and when at least one of the lateral transmission wheels 133 rotates, the lateral traction cable 132 is driven to move, and then the lateral movable arm 120b is driven to move along the extension direction of the support frame 110. The combination of the motor and the transmission wheel has the advantages of high transmission efficiency, easy control, mature technology and low cost. Optionally, the output shaft of the motor is directly connected in transmission with the transverse transmission wheel 133 or in transmission connection with a gear structure. As an achievable way, the motor is a stepper motor. In other achievable manners, the power source is a pneumatic motor or a hydraulic motor, as long as it can drive the laterally rotating wheels to rotate. Similarly, the combined form of the lateral traction cable 132 and the lateral transmission wheel 133 has the advantages of simple structure, stable performance, low cost and easy replacement while realizing transmission. Optionally, the transverse traction cable 132 is a belt or a chain, and the corresponding transverse sprocket is a pulley or a sprocket.

FIG. 21 is a schematic structural diagram of a conveying device provided by an embodiment of the disclosure. Furthermore, as shown in FIGS. 19-21, the lateral drive assembly 130 includes two sets of lateral transmission structures, and the two sets of lateral transmission structures are arranged on the support frame 110 at intervals along the conveying direction. The lateral drive assembly 130 also includes a lateral transmission shaft 134, The output shaft of the transverse motor 131 is in transmission connection with the transverse transmission shaft 134. The transverse transmission shaft 134 is in transmission connection with one of the transverse transmission wheels 133 of the two sets of transverse transmission structures. The transverse traction cables 132 in the two sets of transverse transmission structures are respectively connected with the transverse movement. The arm 120b is drivingly connected. The two sets of lateral transmission structures can respectively drive the lateral movable arm 120b through different positions on the lateral movable arm 120b, which is conducive to the uniform force of the lateral movable arm 120b when moving along the extension direction of the support frame 110, and avoids the movement of the lateral movable arm 120b. The condition of being stuck due to uneven force. At the same time, the two sets of lateral transmission structures are simultaneously driven by the lateral motor 131 through the lateral transmission shaft 134, which realizes the synchronous driving of the two sets of lateral transmission structures, thereby ensuring the smooth movement of the lateral movable arm 120b along the extension direction of the support frame 110.

FIG. 22 is a schematic structural diagram of a conveying device provided by another embodiment of the present disclosure. As shown in FIGS. 19 and 22, in an embodiment of the present disclosure, the two side arms 120 are a first movable arm 120c and a second movable arm 120d, respectively. The first movable arm 120c and the second movable arm 120d respectively support The extension direction of the frame 110 is movably arranged on the support frame 110; the first movable arm 120c and the second movable arm 120d are respectively connected to the transverse drive assembly 130, and the transverse drive assembly 130 drives the first movable arm 120c and the second movable arm 120d along the support The extension direction of the frame 110 is movable, so that the first movable arm 120c and the second movable arm 120d are close to or far away from each other along the extension direction of the support frame 110, and the first movable arm 120c and the second movable arm 120d are mutually along the extension direction of the support frame 110. It can adapt to the size of the loaded cargo box when approaching. The first movable arm 120c and the second movable arm 120d are respectively movably arranged, which can more efficiently realize the adaptability to different sizes of containers. Compared with the handling device with only one side arm 120 movable, the handling device provided in this embodiment is 100 can save half of the adjustment time required to adapt to the size of the container.

The function of the lateral drive assembly 130 is to drive the side arm 120 movably arranged along the extension direction of the support frame 110 to move along the extension direction of the support frame 110, so as to realize the adaptation of the size of the cargo to be carried by the handling device 100. As an achievable way, as shown in Figures 6 and 9, the lateral drive assembly 130 includes a lateral power source and a lateral transmission structure. The output end of the lateral power source is drivingly connected to the input end of the lateral transmission structure. The output end is respectively fixedly connected with the first movable arm 120c and the second movable arm 120d along the extension direction of the support frame 110. In other embodiments, the lateral drive assembly 130 may only include a power source, and the output end of the power source is directly connected in transmission with the first movable arm 120c and the second movable arm 120d respectively, thereby driving the first movable arm 120c and the second movable arm 120c and the second movable arm. The arms 120d are close to or far away from each other along the extending direction of the support frame 110; for example, the lateral drive assembly 130 includes one or more of air cylinders, hydraulic cylinders, or linear motors.

Further, as shown in FIGS. 19 and 22, the transverse power source includes a transverse motor 131, the transverse transmission structure includes a transverse traction cable 132 and at least two transverse transmission wheels 133, and the at least two transverse transmission wheels 133 extend along the extension direction of the support frame 110. The at least one lateral transmission wheel 133 is connected to the output shaft of the lateral motor 131 at intervals, and the lateral traction cable 132 is sleeved on the at least two lateral transmission wheels 133. The two sections of the lateral traction cable 132 bypassing the lateral transmission wheel 133 are respectively fixedly connected to the first movable arm 120c and the second movable arm 120d. When at least one lateral transmission wheel 133 rotates, the lateral traction cable 132 is driven to move, thereby driving the first movable arm. The 120c and the second movable arm 120d are close to or far away from each other along the extension direction of the support frame 110. The combination of the motor and the transmission wheel has the advantages of high transmission efficiency, easy control, mature technology and low cost. As an achievable way, the transverse transmission structure further includes a first connecting block 135 and a second connecting block 136. The first connecting block 135 fixedly connects the first movable arm 120c and the lateral traction cable 132 to a section of the lateral transmission wheel 133, and the second connecting block 136 fixedly connects the second movable arm 120d and the lateral traction cable 132 to bypass the lateral transmission wheel 133. Another paragraph.

Optionally, the output shaft of the motor is directly connected in transmission with the transverse transmission wheel or in transmission connection through a gear structure. As an achievable way, the motor is a stepper motor. In other achievable manners, the power source is a pneumatic motor or a hydraulic motor, as long as it can drive the laterally rotating wheels to rotate. Similarly, the combined form of the lateral traction cable 132 and the lateral transmission wheel 133 has the advantages of simple structure, stable performance, low cost and easy replacement while realizing transmission. Optionally, the transverse traction cable is a belt or a chain, and the corresponding transverse sprocket is a belt wheel or a sprocket.

Furthermore, as shown in Figs. 19 and 22, the lateral drive assembly 130 includes two sets of lateral transmission structures. The two sets of lateral transmission structures are arranged on the support frame 110 at intervals along the conveying direction. The lateral drive assembly 130 also includes a lateral transmission shaft 134, The output shaft of the transverse motor 131 is in transmission connection with the transverse transmission shaft 134. The transverse transmission shaft 134 is respectively in transmission connection with one of the transverse transmission wheels 133 in the two sets of transverse transmission structures. The transverse traction cables 132 in the two sets of transverse transmission structures bypass the transverse transmission. The two sections of the wheel 133 are respectively fixedly connected with the first movable arm 120c and the second movable arm 120d. The two sets of lateral transmission structures can drive the first movable arm 120c and the second movable arm 120d through different positions on the first movable arm 120c and the second movable arm 120d, which is beneficial to the first movable arm 120c and the second movable arm 120d in When moving along the extending direction of the support frame 110, the force is evenly received, which prevents the first movable arm 120c and the second movable arm 120d from being stuck due to uneven force when they are moving. At the same time, the two sets of lateral transmission structures are simultaneously driven by the lateral motor 131 through the lateral transmission shaft 134, which realizes the synchronous driving of the two sets of lateral transmission structures, thereby ensuring that the first movable arm 120c and the second movable arm 120d extend along the direction of the support frame 110. The smoothness of the process of moving closer or farther away.

In an embodiment of the present disclosure, as shown in FIG. 22, the lateral transmission structure includes two lateral transmission wheels 133, and the first movable arm 120c and the second movable arm 120d are symmetrically arranged between the two lateral transmission wheels 133, which means The first movable arm 120c and the second movable arm 120d are respectively close to the lateral transmission wheel 133 at one end, and the distance between the first movable arm 120c and the second movable arm 120d from the adjacent lateral movable wheels 133 is the same. When the lateral drive assembly 130 drives the first movable arm 120c and the second movable arm 120d to approach or move away from each other, the distance between the first movable arm 120c and the second movable arm 120d from the adjacent horizontal movable wheels 133 is always the same. The first movable arm 120c and the second movable arm 120d can move to the extreme position at the same time when they are far away from each other. When the first movable arm 120c and the second movable arm 120d are close to each other, they can meet at the midpoint of the line of the two lateral movable wheels 133. . The first movable arm 120c and the second movable arm 120d are symmetrically arranged between the two transverse transmission wheels 133, which ensures that the first movable arm 120c and the second movable arm 120d have the largest distance adjustment range, and the first movable arm When the container 120c and the second movable arm 120d are adapted to the size of the container to carry the container, the container can be located in the middle position of the conveying device 100, which ensures the stability of the container handling process.

In an embodiment of the present disclosure, as shown in FIGS. 19 and 20, the support frame 110 includes a lateral guide rail 111, which extends along the extension direction of the support frame 110, and is movably disposed on the support frame 110 along the extension direction of the support frame 110. The side arm 120 is movably arranged on the lateral guide rail 111. The lateral guide rail 111 increases the stability of the movement of the lateral movable arm 120b (the first movable arm 120c and the second movable arm 120d) along the extending direction of the support frame 110. Optionally, the horizontal movable arm 120b (the first movable arm 120c and the second movable arm 120d) and the horizontal guide rail 111 are in sliding fit, rolling fit, or other coordination methods that can realize the guiding function. Further, the support frame 110 includes two transverse guide rails 111, the two transverse guide rails 111 are arranged in parallel, and the two transverse guide rails 111 are arranged at intervals along the conveying direction. The two parallel and spaced guide rails together support and guide the side arm 120, and further increase the movement of the lateral movable arm 120b (the first movable arm 120c and the second movable arm 120d) along the extension direction of the support frame 110. Smoothness.

FIG. 23 is a schematic diagram of an extended state of the inner articulated arm of the conveying device structure provided by an embodiment of the present disclosure. In an embodiment of the present disclosure, as shown in FIGS. 21 to 23, the conveying device 100 further includes a bracket 140, and the support frame 110 is rotatably disposed on the bracket 140 along a vertical axis. The support frame 110 can drive the two side arms 120 to rotate relative to the bracket 140 along the vertical axis, which means that when the support frame 110 drives the side arms 120 to rotate, the conveying direction of the conveying device 100 changes accordingly, so the conveying device 100 can convey the goods to the conveying device 100 from different directions by rotating, or the conveying device 100 can convey the goods in different directions, which enhances the adaptability of the conveying device 100 to actual working conditions. As an achievable way, the handling device 100 further includes a rotary drive assembly 150, which includes a sprocket transmission structure 151 and a rotary motor 152. The rotary motor 152 drives the support frame 110 relative to the bracket through the sprocket transmission structure 151. 140 rotates along the vertical axis. Specifically, the support frame 110 is fixedly connected to the sprocket. When the rotating motor 152 drives the sprocket to rotate, the support frame 110 is driven to rotate around a vertical axis. The rotating motor 152 is mounted on the bracket 140 or the support frame 110.

The various parts of the conveying device 100 coordinate and cooperate to realize the conveying of goods or containers. Optionally, the carrying action is directly completed by the side arm 120 or by a telescopic structure provided separately. The present disclosure does not limit the specific structure of the conveying device 100 directly performing the conveying action. In an embodiment of the present disclosure, as shown in FIGS. 16 to 18, the handling action is directly completed by two side arms 120 cooperating together. Each side arm 120 includes an outer section arm 121, an inner section arm 122, and a push rod assembly. 123 and the temporary storage board 124, two outer section arms 121 are respectively arranged at both ends of the extension direction of the support frame 110, at least one outer section arm 121 is movably arranged on the support frame 110 along the extension direction of the support frame 110, and the temporary storage pallet is fixed It is arranged at the bottom of the outer section arm 121, two temporary storage pallets are arranged between the two outer section arms 121 along the extension direction of the support frame 110, and the push rod assembly 123 is arranged on the inner section arm 122. The inner section arm 122 is movably arranged on the outer section arm 121 along the conveying direction, thereby driving the push rod assembly 123 to move in the conveying direction relative to the temporary storage pallet. When the push rod assembly 123 moves in the conveying direction, the goods on the temporary storage pallet can be removed. Push out, or pull the goods to the temporary storage pallet. Using the side arm 120 as the direct execution object of the conveying action simplifies the overall structure of the conveying device 100. In other embodiments of the present disclosure, the outer section arm 121, the inner section arm 122, the push rod assembly 123, and the temporary storage plate 124 may also be directly arranged on the support frame 110 to coordinate with each other to complete the cargo handling action.

Further, as shown in Figures 21 to 23, each side arm 120 also includes a middle section arm 125 respectively. The middle section arm 125 is installed between the inner section arm 122 and the outer section arm 121, and the middle section arm 125 can be opposite to The outer section arm 121 moves in the conveying direction, and the inner section arm 122 can move relative to the middle section arm 125 in the conveying direction. The side arm 120 also includes a speed increasing component, which includes a movable pulley and a strop. The movable pulley is installed on the middle arm 125. The middle part of the zipline is bent and sleeved on the movable pulley, so that two ends of the zipline are arranged oppositely, one end of the zipline is fixedly connected to the outer section arm 121, and the other end of the zipline is fixedly connected to the inner section arm 122. When the middle section arm 125 moves at a first speed in the conveying direction relative to the outer section arm 121, the inner section arm 122 moves at a second speed in the conveying direction relative to the outer section arm 121, and the second speed is twice the first speed. The arrangement of the middle section arm 125 and the speed increasing assembly extends the stroke of the side arm 120 to carry goods in the conveying direction, and at the same time the inner section arm 122 can be extended or retracted at a faster speed, which improves the efficiency of the conveying device 100 for conveying goods.

FIG. 24 is a schematic structural diagram of a movable push rod in an avoiding position according to an embodiment of the present disclosure; FIG. 25 is a schematic structural diagram of a movable push rod in a working position according to an embodiment of the disclosure. In an embodiment of the present disclosure, as shown in FIGS. 23 to 25, the conveying device 100 further includes a section arm drive assembly 160. The section arm drive assembly 160 is disposed between the outer section arm 121 and the middle section arm 125, and the section arm drives The assembly 160 is used to drive the middle section arm 125 to move relative to the outer section arm 121 in the conveying direction. The articulated arm drive assembly 160 realizes the automatic completion of the conveying action. As an achievable way, the section arm drive assembly 160 includes a section arm motor 161, a section arm drive shaft 162, and two sets of section arm sprocket structures 163. The section arm drive shaft 162 includes a spline structure connected along its own axis. Two sections, two sets of section arm sprocket structures 163 are respectively arranged on the two outer section arms 121, the output ends of the two sets of section arm sprocket structures 163 are respectively fixedly connected with the corresponding middle section arms 125 along the conveying direction, and the section arm drive shaft Two ends of 162 are respectively drivingly connected to the input ends of the two sets of joint arm sprocket structures 163, and the output shaft of the joint motor 161 is drivingly connected to the joint driving shaft 162. When the articulated arm motor 161 rotates, the articulated arm drive shaft 162 is driven to rotate, thereby driving the sprocket and the chain to rotate, and the chain drives the push rod assembly 123 to move relative to the temporary storage pallet in the conveying direction. The push rod assembly 123 can move in the conveying direction. Push out the goods on the temporary storage pallet, or pull the goods to the temporary storage pallet. When the horizontal movable arm 120b is close to or far away from the horizontal fixed arm 120a, the joint arm transmission shaft 162 of the spline mechanism can ensure the effective real-time transmission of the joint motor 161 and the two sets of joint sprocket structures 163. When the horizontal movable arm 120b is close to the horizontal fixed arm 120a, the joint arm drive shaft 162 of the spline structure shortens its axial size accordingly; when the horizontal movable arm 120b is far away from the horizontal fixed arm 120a, the joint drive shaft of the spline structure 162 correspondingly extend its axial dimension.

The function of the push rod assembly 123 is to push out the goods on the temporary storage pallet along the conveying direction, or to pull the goods to the temporary storage pallet. In an embodiment of the present disclosure, as shown in FIGS. 24 and 25, the push rod assembly 123 includes a fixed push rod 1231 and a movable push rod 1232. The movable push rod 1232 is rotatably installed at the extended end of the inner joint arm 122, and the push rod is fixed. The rod 1231 is fixedly installed at one end of the inner arm 122 away from the movable push rod 1232. When the push rod assembly 123 extends relative to the temporary storage pallet in the conveying direction, the fixed push rod 1231 can push out the goods on the temporary storage pallet in the conveying direction. When the push rod assembly 123 is retracted relative to the temporary storage pallet in the conveying direction, the movable push rod 1232 can pull the goods to the temporary storage pallet in the conveying direction. Further, the rotation plane of the movable push rod 1232 is perpendicular to the conveying direction, and the movable push rod 1232 has a working position and an avoiding position when rotating. When the push rod assembly 123 extends in the conveying direction relative to the temporary storage pallet, the movable push rod 1232 rotates to the avoiding position, and the fixed push rod 1231 can push the goods on the temporary storage pallet along the conveying direction. When the push rod assembly 123 is retracted relative to the temporary storage pallet in the conveying direction, the movable push rod 1232 rotates to the working position, and the movable push rod 1232 can pull the goods to the temporary storage pallet in the conveying direction. As an achievable way, the movable push rod 1232 is driven by the movable motor 1233 to realize rotation. Furthermore, the transporting device 100 further includes a camera module, which is used to obtain image information to detect whether the two side arms 120 correspond to the designated goods to be transported, and whether the push rod assembly 123 is in contact with the goods to be transported. The camera module may be a two-dimensional camera or a three-dimensional camera, for example.

In the above-mentioned conveying device and conveying robot, the movable side arm along the extension direction of the support frame can adjust the distance between the two side arms according to the external dimensions of the goods, and then the various parts of the conveying device cooperate to perform the conveying action, which greatly enhances the conveying device And the adaptability of the handling robot to different sizes of cargo boxes effectively improves the efficiency of cargo handling.

In an embodiment of the present disclosure, a conveying device is used to convey goods along a conveying direction, and the conveying device includes:

In some embodiments, the two side arms are a horizontal fixed arm and a horizontal movable arm. The horizontal fixed arm is fixedly arranged at one end of the support frame along the extension direction of the support frame, and the horizontal movable arm is movably arranged on the support frame along the extension direction of the support frame. frame.

In some embodiments, the lateral drive assembly includes a lateral power source and a lateral transmission structure, the output end of the lateral power source is drivingly connected with the input end of the lateral transmission structure, and the output end of the lateral transmission structure and the lateral movable arm are along the extension direction of the support frame. Fixed connection.

In some embodiments, the transverse power source includes a transverse motor, the transverse transmission structure includes a transverse traction cable and at least two transverse transmission wheels, the at least two transverse transmission wheels are arranged on the support frame at intervals along the extension direction of the support frame, and at least one transverse transmission The wheels are in transmission connection with the output shaft of the transverse motor. The transverse traction cables are sleeved on at least two transverse transmission wheels. The transverse traction cables and the horizontal movable arms are fixedly connected along the extension direction of the support frame. When at least one transverse transmission wheel rotates, the transverse traction cables are driven. Movement, thereby driving the horizontal movable arm to move along the extension direction of the support frame.

In some embodiments, the transverse drive assembly includes two sets of transverse transmission structures, the two sets of transverse transmission structures are arranged on the support frame at intervals along the conveying direction, and the transverse drive assembly further includes a transverse drive shaft, and the output shaft of the transverse motor is drivingly connected to the transverse drive shaft. , The transverse transmission shaft is respectively connected with a transverse transmission wheel in the two sets of transverse transmission structures, and the transverse traction cables in the two sets of transverse transmission structures are respectively connected with the transverse movable arm in transmission.

In some embodiments, the two side arms are the first movable arm and the second movable arm, respectively, the first movable arm and the second movable arm are respectively movably arranged on the support frame along the extension direction of the support frame; the first movable arm and the second movable arm The two movable arms are respectively in transmission connection with the transverse drive assembly, and the transverse drive assembly drives the first movable arm and the second movable arm to move along the extension direction of the support frame.

In some embodiments, the lateral drive assembly includes a lateral power source and a lateral transmission structure, the output end of the lateral power source is in transmission connection with the input end of the lateral transmission structure, and the output end of the lateral transmission structure is respectively connected to the first movable arm and the second movable arm. The arms are fixedly connected along the extension direction of the support frame.

In some embodiments, the transverse power source includes a transverse motor, the transverse transmission structure includes a transverse traction cable and at least two transverse transmission wheels, the at least two transverse transmission wheels are arranged on the support frame at intervals along the extension direction of the support frame, and at least one transverse transmission The wheel is in transmission connection with the output shaft of the lateral motor, and the lateral traction cable is sleeved on at least two lateral transmission wheels; the two sections of the lateral traction cable bypassing the lateral transmission wheel are respectively fixedly connected to the first movable arm and the second movable arm, at least one When the lateral transmission wheel rotates, the lateral traction cable is driven to move, thereby driving the first movable arm and the second movable arm to approach or move away from each other along the extension direction of the support frame.

In some embodiments, the transverse drive assembly includes two sets of transverse transmission structures, the two sets of transverse transmission structures are arranged on the support frame at intervals along the conveying direction, and the transverse drive assembly further includes a transverse drive shaft, and the output shaft of the transverse motor is drivingly connected to the transverse drive shaft. , The transverse drive shaft is respectively connected to one of the two sets of transverse drive structures, and the transverse traction cables in the two sets of transverse drive structures bypass the two sections of the transverse drive wheels, and are connected to the first movable arm and the second movable arm respectively. Fixed connection.

In some embodiments, the lateral transmission structure includes two lateral transmission wheels, and the first movable arm and the second movable arm are symmetrically arranged between the two lateral transmission wheels.

In some embodiments, the conveying device further includes a bracket, and the support frame is rotatably arranged on the bracket along a vertical axis.

In some embodiments, the conveying device further includes a rotary drive assembly. The rotary drive assembly includes a sprocket transmission structure and a rotary motor. The rotary motor drives the support frame to rotate relative to the bracket along a vertical axis through the sprocket transmission structure.

In some embodiments, each side arm includes an outer articulated arm, an inner articulated arm, a push rod assembly, and a temporary storage board. The two outer articulated arms are respectively arranged at both ends of the support frame in the extending direction, and at least one outer articulated arm is arranged along the The extension direction of the support frame is movably arranged on the support frame, the temporary storage pallet is fixedly arranged at the bottom of the outer section arm, two temporary storage pallets are arranged between the two outer section arms along the extension direction of the support frame, and the push rod assembly is arranged In the inner section arm; the inner section arm is movably arranged on the outer section arm along the conveying direction, and then drives the push rod assembly to move in the conveying direction relative to the temporary storage pallet. When the push rod assembly moves in the conveying direction, the temporary storage pallet can be moved The goods are pushed out, or the goods are pulled to the temporary storage pallet.

In some embodiments, each side arm also includes a middle section arm and a speed increasing assembly, the middle section arm is installed between the inner section arm and the outer section arm, and the middle section arm can move in the conveying direction relative to the outer section arm. , The inner section arm can move in the conveying direction relative to the middle section arm; the speed increasing assembly includes a movable pulley and a strop; the movable pulley is installed on the middle section arm; the middle of the strop is bent and sleeved on the movable pulley, so that the two ends of the strop are opposite Is set, one end of the strop is fixedly connected to the outer section arm, and the other end of the strop is fixedly connected to the inner section arm; when the middle section arm moves at the first speed in the conveying direction relative to the outer section arm, the inner section arm is relative to the outer section arm. The conveying direction moves at a second speed, which is twice the first speed.

In some embodiments, the conveying device further includes a section arm drive assembly. The section arm drive assembly is arranged between the outer section arm and the middle section arm. The section arm drive assembly is used to drive the middle section arm to move in the conveying direction relative to the outer section arm. The section arm drive assembly includes a section arm motor, a section arm drive shaft and two sets of section arm sprocket structures. The section arm drive shaft includes two sections connected by a spline structure along its own axial direction, and the two sets of section arm sprocket structures are set separately On the two outer section arms, the output ends of the two sets of section arm sprocket structures are respectively fixedly connected with the corresponding middle section arms in the conveying direction, and the two ends of the section arm drive shaft are respectively driven with the input ends of the two sets of section arm sprocket structures Connected, the output shaft of the section arm motor is drivingly connected with the section arm drive shaft.

In some embodiments, the support frame includes a transverse guide rail, the transverse guide rail extends along the extension direction of the support frame, and the side arm movably arranged on the support frame along the extension direction of the support frame is movably arranged on the transverse guide rail.

In some embodiments, the support frame includes two transverse guide rails, the two transverse guide rails are arranged in parallel, and the two transverse guide rails are arranged at intervals along the conveying direction.

In some embodiments, the transport device further includes a camera module, which is used to obtain image information to detect whether the two side arms correspond to the designated goods to be transported.

A handling robot according to an embodiment of the present disclosure includes a mobile chassis, a storage shelf, a lifting assembly, and the aforementioned handling device. The storage shelf is installed on the mobile chassis, and the storage shelf is provided with a plurality of storage pallets distributed in a vertical direction. Each storage pallet is used to place goods, the handling device is used to transport goods between the fixed shelf and any storage pallet, and the lifting assembly is used to drive the handling device to move in the vertical direction, so that the handling device is lifted to the corresponding storage pallet When the transport device is raised to the height of the corresponding storage pallet, the transport device will push the goods to the corresponding storage pallet in the transport direction, or the transport device will be located on the corresponding storage pallet in the transport direction. The goods on the board are pulled away; when the conveying device is raised to the height of the corresponding fixed shelf, the conveying device pushes the goods to the corresponding fixed shelf in the conveying direction, or the conveying device pulls the goods on the corresponding fixed shelf in the conveying direction from.

Specifically, the storage shelf is installed on the mobile chassis, the lifting assembly is installed on the storage shelf, and the lifting assembly is fixedly connected with the bracket of the conveying device in a vertical direction. In the above-mentioned handling robot, the movable side arm along the extension direction of the support frame can adjust the distance between the two side arms according to the external dimensions of the goods, and then the various parts of the handling device cooperate to perform the handling action, which greatly enhances the utility model provided Adaptation of handling devices and handling robots to containers of different sizes.

An embodiment of the present disclosure further provides a control device 500, including: at least one processor 520; and a memory 510 communicatively connected with the at least one processor 520, the memory 510 stores executable code, and when the executable code is processed by at least one When the processor 520 executes, at least one processor 520 executes part or all of the methods in FIGS. 15 to 18. The structure and working principle of the control device 500 are the same as those of the control device 500 in the embodiment of FIG. 5, and will not be repeated here.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, not to limit it; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present disclosure. range.

Claims

A picking control method applied to a handling robot, characterized in that the handling robot is equipped with a handling device for picking up goods, and the method includes:

Receive the pick-up instruction, and obtain the location information of the target goods according to the pick-up instruction;

Moving the handling robot to a target position according to the positioning information;

Obtain status information of the target cargo and/or positional relationship information between the handling device and the target cargo, wherein the status information of the target cargo includes size information of the target cargo and/or the target The posture information of the cargo;

According to the status information and/or the positional relationship information, the posture of the conveying device is adjusted to enable the conveying device to take out the target cargo.
The method of claim 1, wherein:

The obtaining status information of the target cargo and/or positional relationship information between the handling device and the target cargo includes:

Acquiring the three-dimensional imaging information of the target cargo by the handling robot;

Acquiring posture information of the target cargo and/or positional relationship information between the handling device and the target cargo according to the three-dimensional imaging information;

The adjusting the posture of the conveying device according to the status information and/or the positional relationship information so that the conveying device takes out the target cargo includes:

According to the positional relationship information and/or the posture information, the posture of the conveying device is adjusted, and the conveying device takes out the target cargo in the adjusted posture.
The method of claim 2, wherein:

The posture information of the target cargo includes size information of the target cargo;

The positional relationship information between the handling device and the target cargo includes: the deviation between the handling device and the target cargo in the traveling direction of the handling robot, and the pick-up of the handling device and the target cargo on the handling device. The relative distance in the cargo direction and/or the placement angle of the target cargo relative to the conveying device.
The method according to claim 3, wherein the conveying device is equipped with a three-dimensional imaging information acquisition module;

The acquiring the posture information of the target cargo and/or the positional relationship information between the handling device and the target cargo includes:

Based on the three-dimensional imaging information acquisition module acting on the target cargo to obtain posture information of the target cargo and/or positional relationship information between the handling device and the target cargo.
The method according to claim 4, wherein the conveying device has a telescopic arm, and the causing the conveying device to take out the target cargo in an adjusted posture comprises:

Determine the pickup depth of the handling device; and

Making the telescopic arm extend the pickup depth in an adjusted posture;

Wherein, the pickup depth is equal to the sum of the relative distance between the handling device and the target goods in the pickup direction of the handling device and a predetermined percentage of the maximum value of the pickup direction dimensions of all the goods to be picked; or, The pickup depth is equal to the preset maximum extension size.
The method according to any one of claims 2 to 5, wherein the adjusting the posture of the conveying device according to the positional relationship information and the posture information comprises:

By driving at least one of the chassis of the handling robot, raising and lowering the handling device, or rotating the handling device, the specific position of the handling robot is aligned with the specific position of the target cargo.
The method according to claim 6, wherein the conveying device has a pair of telescopic arms, and the adjusting the posture of the conveying device further comprises:

Adjust the distance between the pair of telescopic arms to adapt to the size of the target cargo.
The method according to any one of claims 2 to 5, wherein the posture information includes the size of the target cargo;

Before the adjusting the pose of the conveying device according to the positional relationship information and the posture information includes:

Determine whether the target cargo exists; and

If the target cargo exists, it is determined whether the size of the target cargo is within the size range that the conveying device can take.
The method according to any one of claims 2 to 5, characterized in that, before causing the handling device to take out the target cargo in an adjusted posture, it comprises:

It is determined whether the conveying device will collide with the shelf when picking up the goods.
The method according to any one of claims 2 to 5, wherein the moving the handling robot to the target position comprises:

First move the chassis of the handling robot to the target position, and then lift the handling device to the target shelf height and/or rotate the handling device to the target direction; or,

The chassis of the handling robot is moved to a target position, and the handling device is raised and lowered to a target height and/or the handling device is rotated to a target direction during the movement of the chassis of the handling robot.
The method according to claim 1, wherein the handling robot has a chassis and a handling device supported on the chassis for picking up goods, the handling device has a first arm and a second arm, the The handling device is configured to place the goods between the first arm and the second arm when picking up the goods;

The obtaining status information of the target cargo and/or positional relationship information between the handling device and the target cargo includes:

Obtaining size information of the target cargo and positional relationship information between the handling device and the target cargo;

The adjusting the posture of the conveying device according to the status information and/or the positional relationship information so that the conveying device takes out the target cargo includes:

According to the positional relationship information and the size information of the target cargo, adjusting the posture of the handling device, which includes at least adjusting the distance between the first arm and the second arm to adapt to the size of the target cargo And, making the first arm and the second arm take out the target cargo at an adjusted interval.
The method according to claim 11, characterized in that, according to the positioning information, the positional relationship information, and the size information of the target cargo, the handling robot is moved to the target position, and the handling device is adjusted Pose includes:

Moving the handling robot to a target position according to the positioning information; and

According to the positional relationship information and the size information of the target cargo, the posture of the conveying device is adjusted.
The method according to claim 12, wherein said obtaining the size information of the target cargo comprises at least one of the following:

Obtain the size information of the target cargo from the external management system of the handling robot; and

The size information of the target cargo is obtained based on the perception of the target cargo by the handling robot.
The method according to claim 12, wherein said obtaining the size information of the target cargo comprises at least one of the following:

Obtain the size information of the target cargo from the pickup instruction;

Obtain the size information of the target cargo based on the preset identifier on the target cargo; and

The size information of the target cargo is obtained by allowing the handling robot to obtain the image information of the target cargo.
The method according to claim 12, characterized in that:

The first arm is a movable arm, the second arm is a fixed arm, and the adjustment of the distance between the first arm and the second arm is achieved by moving the first arm; or ,

The first arm portion and the second arm portion are both movable arm portions, and the adjustment of the distance between the first arm portion and the second arm portion is achieved by simultaneously or sequentially moving the first arm portion and the second arm portion Department achieved.
The method according to claim 12, wherein the handling device or the handling robot further has at least one sensing device;

The obtaining positional relationship information between the handling robot and the target cargo includes: obtaining the relationship between the handling robot and the target cargo based on the first perception information obtained by the at least one sensing device acting on a preset identifier ’S location relationship information;

The obtaining the size information of the target cargo includes: obtaining the size information of the target cargo based on the second perception information obtained by the at least one sensing device acting on the target cargo.
The method according to claim 16, wherein the transport device or the transport robot has two sensing devices, one of which is a two-dimensional camera, and the other one is a three-dimensional camera, and the second sensing device is a three-dimensional camera. One piece of perception information is obtained by the two-dimensional camera, and the second piece of perception information is obtained by the three-dimensional camera.
The method according to claim 16, wherein the preset identifier is a goods identifier on the target goods, or a shelf identifier on a shelf where the target goods are stored.
The method according to claim 11 or 12, wherein:

The obtaining the size information of the target cargo includes: obtaining the size information of the target cargo by allowing the handling robot to obtain the image information of the target cargo;

The said first arm part and the second arm part to take out the target cargo at an adjusted distance includes: extending the first arm part and the second arm part to be able to take out all the cargo to be taken out The position of the largest directional size or the first arm and the second arm are extended to the preset maximum extension size, and the target cargo is taken out at an adjusted interval.
The method according to claim 11 or 12, wherein:

The obtaining the size information of the target cargo includes: obtaining the size information of the target cargo from an external management system of the handling robot;

The obtaining the positional relationship information between the handling device and the target cargo includes: obtaining the positional relationship information between the handling device and the target cargo based on a preset identifier on the target cargo;

The step of moving the handling robot to a target position based on the positioning information, position relationship information, and size information of the target cargo, and adjusting the pose of the handling device includes: according to the positioning information and the target cargo The size information makes the chassis of the handling robot move to the target position. During the movement of the chassis or after the chassis moves to the target position, the first arm and the first arm are adjusted according to the size information of the target cargo. The distance between the second arm portions and, according to the positional relationship information between the handling device and the target cargo obtained based on a preset mark on the target cargo, the pose of the handling device is adjusted.
The method according to claim 12, wherein the handling device or the handling robot further has at least one sensing device;

The moving the handling robot to the target position includes: moving the chassis of the handling robot to the target position, and adjusting the first arm according to the pre-stored size information of the target cargo obtained from the external management system of the handling robot The distance between the part and the second arm part;

The obtaining the size information of the target cargo includes: obtaining the actual size information of the target cargo by allowing the handling robot to obtain the three-dimensional imaging information of the target cargo;

The adjusting the pose of the conveying device includes: judging whether the actual size information of the target cargo is consistent with the pre-stored size information of the target cargo, and if not, re-adjusting the first size information according to the actual size information. The distance between the arm and the second arm.
The method according to claim 21, wherein the transport device or the transport robot has two sensing devices, one of which is a two-dimensional camera, and the other one is a three-dimensional camera, and the second sensing device is a three-dimensional camera. One piece of perception information is obtained by the two-dimensional camera, and the second piece of perception information is obtained by the three-dimensional camera.
The method according to any one of claims 11 to 12, characterized in that before obtaining the positional relationship information between the conveying device and the target cargo, the method further comprises:

Determine whether the target cargo exists; and

If the target cargo exists, it is determined whether the size of the target cargo is within the size range that the conveying device can take.
The method according to any one of claims 11 to 22, wherein the adjusting the posture of the handling device further comprises:

By driving at least one of the chassis of the handling robot, raising and lowering the handling device, or rotating the handling device, the specific position of the handling robot is aligned with the specific position of the preset mark on the target cargo, or The specific position of the handling robot is aligned with the specific position of the target cargo.
The method according to any one of claims 11 to 22, wherein the adjusting the posture of the conveying device comprises:

By driving at least one of the chassis of the handling robot, raising and lowering the handling device, or rotating the handling device, the specific position between the first arm and the second arm is made to be the specific position of the target cargo Align, and simultaneously or sequentially adjust the first arm and the second arm, so that the distance between the first arm and the second arm adapts to the size of the target cargo; or,

By driving at least one of the chassis of the handling robot, raising and lowering the handling device, or rotating the handling device, the first arm portion and the side edge of the target cargo conform to a corresponding preset positional relationship, and The second arm portion is adjusted so that the second arm portion and the other side edge of the target cargo conform to a corresponding preset positional relationship.
The method according to any one of claims 11 to 21, wherein the moving the handling robot to the target position comprises:

First move the chassis of the handling robot to the target position, and then lift the handling device to the target shelf height and/or rotate the handling device to the target direction; or,

The chassis of the handling robot is moved to a target position, and the handling device is raised and lowered to a target height and/or the handling device is rotated to a target direction during the movement of the chassis of the handling robot.
The method according to any one of claims 11 to 22, wherein the first arm portion and the second arm portion to take out the target cargo at an adjusted distance comprises: the first arm portion and the second arm portion During the pick-up process of the second arm, the sensor provided on the first arm and/or the second arm determines whether it will hit the target cargo. If it is, the pick-up task will be suspended or terminated. If not, pick up the goods.
A delivery control method applied to a handling robot, characterized in that the handling robot is equipped with a handling device for picking up goods, and the method includes:

Receive the delivery instruction, and obtain the location information of the target cargo according to the delivery instruction;

Moving the handling robot to a target position according to the positioning information;

Enabling the handling robot to collect three-dimensional imaging information based on the target position;

Judging whether there are containers on the shelf according to the three-dimensional imaging information;

If no cargo box exists, the transport device is caused to place the target cargo on the shelf.
The method according to claim 28, wherein the conveying device is equipped with a three-dimensional imaging information acquisition module;

The enabling the handling robot to collect three-dimensional imaging information based on the target position includes:

The three-dimensional imaging information acquisition module is used to acquire three-dimensional imaging information based on the target position.
The method according to claim 29, characterized in that, before the causing the conveying device to place the target goods on the shelf, the method further comprises:

It is judged whether it is suitable to put the target goods on the shelf according to the size of the target goods.
The method according to any one of claims 28 to 30, wherein the step of causing the handling device to place the target goods on the shelf comprises:

It is determined whether the conveying device will collide with the shelf when placing goods.
The method according to any one of claims 28 to 30, wherein the moving the handling robot to the target position comprises:

First move the chassis of the handling robot to the target position, and then lift the handling device to the target shelf height and/or rotate the handling device to the target direction; or,

The chassis of the handling robot is moved to a target position, and the handling device is raised and lowered to a target height and/or the handling device is rotated to a target direction during the movement of the chassis of the handling robot.
A control device, characterized in that it comprises:

At least one processor; and

A memory communicatively connected to the at least one processor, the memory storing executable code, and when the executable code is executed by the at least one processor, the at least one processor is caused to execute as claimed in claims 1 to 10. The method of any one of 28 to 32.
A transport robot, characterized by comprising a mobile chassis, a transport device, a storage shelf, a lifting assembly, and the control device of claim 33, the storage shelf is installed on the mobile chassis, and the storage shelf is provided with an edge A number of storage pallets distributed in a vertical direction, each of the storage pallets is used for placing goods, the handling device is used for transporting goods between a fixed shelf and any one of the storage pallets, and the lifting assembly is used for Drive the conveying device to move in the vertical direction, so that the conveying device is raised to the height corresponding to the storage pallet or the height of the fixed shelf; when the conveying device is raised to the height corresponding to the storage pallet, the The conveying device moves the goods to the corresponding storage pallet in the conveying direction, or the conveying device removes the goods on the corresponding storage pallet in the conveying direction; the conveying device is raised and lowered to the corresponding fixed When the height of the shelf is high, the conveying device moves the goods to the corresponding fixed shelf along the conveying direction, or the conveying device moves the goods on the corresponding fixed shelf along the conveying direction.
A conveying device, characterized in that it comprises:

A fork is used to take out the goods; and

The three-dimensional imaging information acquisition module is installed on the fork, and the three-dimensional imaging information acquisition module is used to acquire the three-dimensional imaging information of the goods to determine the position of the goods.
35. The conveying device according to claim 35, wherein the conveying device further comprises a bracket and a rotary drive module;

The fork is mounted on the bracket, and the fork is rotatable relative to the bracket in a vertical direction;

The rotation drive module is connected to the fork and the bracket, and the rotation drive module is used to drive the fork to rotate relative to the bracket in a horizontal plane according to the position information of the cargo.
35. The conveying device according to claim 35, wherein the conveying device further comprises a two-dimensional image scanning module;

The two-dimensional image scanning module is installed on the fork, and is used to obtain graphic code information to determine the height of the fork.
The conveying device according to claim 37, wherein the conveying device further comprises a router;

The router is electrically connected to the three-dimensional imaging information acquisition module and the two-dimensional image scanning module to receive and deliver the three-dimensional imaging information and the graphic code information.
The handling device according to any one of claims 35 to 38, wherein the fork comprises a fork bracket, a telescopic arm and a manipulator;

The fixed end of the telescopic arm is installed on the fork bracket, the movable end of the telescopic arm is installed with the manipulator, and the movable end can move in a horizontal direction relative to the fork bracket, so that the manipulator extends Go out to a position where the goods can be obtained, or make the manipulator retrieve the goods after obtaining the goods;

The manipulator is used to obtain goods.
The handling device according to claim 39, wherein the fork further comprises a pallet;

The pallet is installed on the fork bracket, and when the manipulator is retracted after obtaining the goods, the manipulator is used to store the obtained goods on the pallet.
The transport device according to claim 40, wherein the manipulator comprises a movable push rod;

The movable push rod can be retracted into the movable end, so as to avoid goods during the process of extending the manipulator;

The movable push rod can protrude from the movable end to pull the goods when the manipulator is retracted.
The conveying device according to claim 41, wherein the pallet can move horizontally relative to the fork bracket to travel to a position close to the goods obtained by the manipulator, or in the goods storage Return to the pallet.
The conveying device according to claim 41, wherein the number of the telescopic arms is two;

The movable ends of the two telescopic arms are separated in a horizontal and longitudinal direction, and the movable ends of the two telescopic arms can move in a horizontal direction relative to the fork support synchronously;

When the manipulator extends to a position where the goods can be obtained, the goods are located between the movable ends of the two telescopic arms.
The conveying device according to claim 43, wherein one of the telescopic arms can move horizontally and longitudinally relative to the other telescopic arm, so that the movable ends of the two telescopic arms are at a horizontal and longitudinal distance Adjustable.
A handling robot, characterized by comprising the handling device according to any one of claims 35 to 44.
The handling robot according to claim 45, wherein the handling robot further comprises a cargo storage device and a chassis;

The cargo storage device is used to store the cargo taken out by the fork;

The chassis carries the cargo storage device and the handling device, and the chassis is movable.
The handling robot according to claim 46, wherein the storage device comprises at least two layers distributed at different heights;

The handling robot also includes a lifting drive device;

The lifting driving device is used to drive the lifting device to lift, so that the fork can store the taken-out goods in one of the at least two layer boards.
A control device, characterized in that it comprises:

At least one processor; and

A memory communicatively connected with the at least one processor, the memory storing executable code, and when the executable code is executed by the at least one processor, the at least one processor is caused to execute as claimed in claims 11 to The method of any one of 27.
A transport robot, characterized by comprising a mobile chassis, a transport device, a storage shelf, a lifting assembly, and the control device according to claim 48, the storage shelf is installed on the mobile chassis, and the storage shelf is provided with an edge A number of storage pallets distributed in a vertical direction, each of the storage pallets is used for placing goods, the handling device is used for transporting goods between a fixed shelf and any one of the storage pallets, and the lifting assembly is used for Drive the conveying device to move in the vertical direction, so that the conveying device is raised to the height corresponding to the storage pallet or the height of the fixed shelf; when the conveying device is raised to the height corresponding to the storage pallet, the The conveying device moves the goods to the corresponding storage pallet in the conveying direction, or the conveying device removes the goods on the corresponding storage pallet in the conveying direction; the conveying device is raised and lowered to the corresponding fixed When the height of the shelf is high, the conveying device moves the goods to the corresponding fixed shelf along the conveying direction, or the conveying device moves the goods on the corresponding fixed shelf along the conveying direction.
A conveying device for conveying goods along a conveying direction, characterized in that the conveying device includes:

A support frame, said support frame extending in a direction perpendicular to the conveying direction in a horizontal plane;

Two side arms, the two side arms are respectively arranged at both ends of the extension direction of the support frame, the two side arms respectively extend along the conveying direction, and at least one of the side arms extends along the extension direction of the support frame Movably arranged on the support frame;

A transverse drive assembly, the transverse drive assembly is in transmission connection with at least one of the side arms, and the transverse drive assembly drives at least one of the side arms to move along the extension direction of the support frame, so that the two side arms move along the direction of the support frame. The extension directions of the support frame are close to or far away from each other, and the two side arms can adapt to the size of the carried goods when they are close to each other along the extension direction of the support frame.
The transport device according to claim 50, wherein the two side arms are respectively a horizontal fixed arm and a horizontal movable arm, and the horizontal fixed arm is fixedly arranged on the support frame along the extension direction of the support frame At one end of the support frame, the horizontal movable arm is movably arranged on the support frame along the extension direction of the support frame.
The transport device according to claim 51, wherein the lateral drive assembly comprises a lateral power source and a lateral transmission structure, the output end of the lateral power source is drivingly connected with the input end of the lateral transmission structure, and the The output end of the lateral transmission structure is fixedly connected with the lateral movable arm along the extension direction of the support frame.
The handling device according to claim 52, wherein the lateral power source comprises a lateral motor, and the lateral transmission structure comprises a lateral traction cable and at least two lateral transmission wheels, and at least two of the lateral transmission wheels are arranged along the The extension direction of the support frame is arranged on the support frame at intervals, at least one of the lateral transmission wheels is drivingly connected with the output shaft of the lateral motor, and the lateral traction cable is sleeved on at least two of the lateral transmission wheels, so The lateral traction cable and the lateral movable arm are fixedly connected along the extension direction of the support frame. When at least one of the lateral transmission wheels rotates, the lateral traction rope is driven to move, thereby driving the lateral movable arm along the support frame. Movement in the extension direction.
The conveying device according to claim 53, wherein the lateral drive assembly comprises two sets of the lateral transmission structure, the two sets of the lateral transmission structure are arranged on the support frame at intervals along the conveying direction, and the lateral drive The assembly further includes a transverse transmission shaft, the output shaft of the transverse motor is in transmission connection with the transverse transmission shaft, and the transverse transmission shaft is respectively in transmission connection with one of the two sets of the transverse transmission structure, and the two sets The lateral traction cables in the lateral transmission structure are respectively connected in transmission with the lateral movable arms.
The transport device according to claim 50, wherein the two side arms are a first movable arm and a second movable arm, respectively, and the first movable arm and the second movable arm are respectively along the support The extension direction of the frame is movably arranged on the support frame; the first movable arm and the second movable arm are respectively connected to the transverse drive assembly in transmission, and the transverse drive assembly drives the first movable arm and the The second movable arm is movable along the extending direction of the support frame.
The transport device according to claim 55, wherein the lateral drive assembly comprises a lateral power source and a lateral transmission structure, the output end of the lateral power source is drivingly connected with the input end of the lateral transmission structure, and the The output ends of the lateral transmission structure are respectively fixedly connected with the first movable arm and the second movable arm along the extending direction of the support frame.
The handling device according to claim 56, wherein the lateral power source comprises a lateral motor, and the lateral transmission structure comprises a lateral traction cable and at least two lateral transmission wheels, and at least two of the lateral transmission wheels run along the The extension direction of the support frame is arranged on the support frame at intervals, at least one of the lateral transmission wheels is in transmission connection with the output shaft of the lateral motor, and the lateral traction cable is sleeved on at least two of the lateral transmission wheels; The two sections of the lateral traction cable bypassing the lateral transmission wheel are respectively fixedly connected to the first movable arm and the second movable arm, and when at least one of the lateral transmission wheels rotates, the lateral traction cable is driven to move, thereby The first movable arm and the second movable arm are driven to approach or move away from each other along the extension direction of the support frame.
The conveying device according to claim 57, wherein the lateral drive assembly comprises two sets of the lateral transmission structure, the two sets of the lateral transmission structure are arranged on the support frame at intervals along the conveying direction, and the lateral drive The assembly further includes a transverse transmission shaft, the output shaft of the transverse motor is in transmission connection with the transverse transmission shaft, and the transverse transmission shaft is respectively in transmission connection with one of the two sets of the transverse transmission structure, and the two sets The lateral traction cable in the lateral transmission structure bypasses the two sections of the lateral transmission wheel, and is respectively fixedly connected with the first movable arm and the second movable arm.
The transport device according to claim 57, wherein the lateral transmission structure comprises two lateral transmission wheels, and the first movable arm and the second movable arm are symmetrically arranged on the two lateral transmission wheels. Between rounds.
The conveying device according to any one of claims 50 to 59, wherein the conveying device further comprises a bracket, and the support frame is rotatably arranged on the bracket along a vertical axis.
The transporting device according to claim 60, wherein the transporting device further comprises a rotating drive assembly, the rotating drive assembly includes a sprocket transmission structure and a rotating motor, and the rotating motor is driven by the sprocket transmission structure The support frame rotates along a vertical axis relative to the bracket.
The conveying device according to claim 60, wherein each of the side arms includes an outer section arm, an inner section arm, a push rod assembly, and a temporary storage plate, and the two outer section arms are respectively disposed on the At both ends of the extension direction of the support frame, at least one of the outer section arms is movably arranged on the support frame along the extension direction of the support frame, the temporary storage pallet is fixedly arranged at the bottom of the outer section arms, and two The temporary storage pallet is arranged between the two outer articulated arms along the extension direction of the support frame, the push rod assembly is arranged on the inner articulated arm; the inner articulated arm is movably arranged in the conveying direction The outer articulated arm in turn drives the push rod assembly to move relative to the temporary storage pallet in a conveying direction, and the push rod assembly can push out the goods on the temporary storage pallet when it moves in the conveying direction, or Pull the goods to the temporary storage pallet.
The transport device according to claim 62, wherein each of the side arms further comprises a middle section arm and a speed increasing assembly, and the middle section arm is installed between the inner section arm and the outer section arm, In addition, the middle section arm can move in a conveying direction relative to the outer section arm, and the inner section arm can move in a conveying direction relative to the middle section arm; the speed increasing assembly includes a movable pulley and a strop; The movable pulley is installed on the middle section arm; the middle part of the strop is bent and sleeved on the movable pulley, so that two ends of the strop are arranged oppositely, and one end of the strop is fixedly connected to the outer joint arm, The other end of the strop is fixedly connected to the inner section arm; when the middle section arm moves at a first speed in the conveying direction relative to the outer section arm, the inner section arm is relative to the outer section arm Moving along the conveying direction at a second speed, the second speed being twice the first speed.
The conveying device according to claim 63, wherein the conveying device further comprises a section arm drive assembly, the section arm drive assembly is disposed between the outer section arm and the middle section arm, and the section The arm drive assembly is used to drive the middle section arm to move in the conveying direction relative to the outer section arm; the section arm drive assembly includes a section arm motor, a section arm drive shaft and two sets of section arm sprocket structures. The arm drive shaft includes two segments connected by a spline structure along its own axial direction. The two sets of the section arm sprocket structures are respectively arranged on the two outer section arms, and the output ends of the two sets of the section arm sprocket structures are respectively It is fixedly connected with the corresponding middle section arm in the conveying direction, the two ends of the section arm drive shaft are respectively connected to the input ends of the two sets of the section arm sprocket structure, and the output shaft of the section arm motor is connected to the The transmission connection of the section arm drive shaft.
The conveying device according to any one of claims 50 to 64, wherein the support frame comprises a transverse guide rail, the transverse guide rail extends along the extension direction of the support frame and moves along the extension direction of the support frame The side arm provided on the support frame is movably provided on the lateral guide rail.
The conveying device according to claim 65, wherein the support frame comprises two of the transverse guide rails, the two transverse guide rails are arranged in parallel, and the two transverse guide rails are arranged at intervals along the conveying direction.
The transporting device according to claims 50 to 64, wherein the transporting device further comprises a camera module, and the camera module is used to obtain image information to detect whether the two side arms are compatible with the goods to be transported. correspond.
A handling robot, characterized by comprising a mobile chassis, a storage shelf, a lifting assembly, and the handling device according to any one of claims 50 to 67, the storage shelf is installed on the mobile chassis, and the storage shelf is arranged There are several storage pallets distributed in the vertical direction, each of the storage pallets is used to place goods, the handling device is used to transport the goods between the fixed shelf and any one of the storage pallets, and the lifting assembly is used to drive the The conveying device moves in the vertical direction, so that the conveying device is raised to the height corresponding to the storage pallet or the height of the fixed shelf; when the conveying device is raised to the height corresponding to the storage pallet, the conveying device Push the goods to the corresponding storage pallet in the conveying direction, or the conveying device pulls the goods on the corresponding storage pallet in the conveying direction; the conveying device is lifted to the corresponding fixed shelf When the height is higher, the conveying device pushes the goods onto the corresponding fixed shelf along the conveying direction, or the conveying device pulls the goods on the corresponding fixed shelf away from the corresponding fixed shelf along the conveying direction.